Vivek Pradeep, Gérard G. Medioni, James Weiland. Visual loop closing using multi-resolution SIFT grids in metric-topological SLAM. In 2009 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR 2009), 20-25 June 2009, Miami, Florida, USA. pages 1438-1445, IEEE, 2009. [doi]
Abstract is missing.