@article{McDonald12ras,
title = {Real-time 6-{DOF} Multi-session Visual {SLAM} over Large Scale Environments},
journal = "Robotics and Autonomous Systems",
volume = "61",
number = "10",
pages = "1144-1158",
year = "2013",
note = "",
issn = "0921-8890",
doi = "10.1016/j.robot.2012.08.008",
url = "http://www.sciencedirect.com/science/article/pii/S0921889012001406?v=s5",
author = "J. McDonald and M. Kaess and C. Cadena and J. Neira and J.J. Leonard",
}