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Vision-based Global Localization Using a Visual Vocabulary

Junqiu Wang, Roberto Cipolla, Hongbin Zha. Vision-based Global Localization Using a Visual Vocabulary. In Proceedings of the 2005 IEEE International Conference on Robotics and Automation, ICRA 2005, April 18-22, 2005, Barcelona, Spain. pages 4230-4235, IEEE, 2005.

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