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Konolige, Kurt, Agrawal, Motilal (2007): Frame-frame matching for realtime consistent visual mapping. In: Iocchi, Luca, Sorrenti, Domenico G. (eds.) Robot Vision 2007 - Proceedings of the 1st International Workshop, in conjuntion with VISAPP 2007 March 8-11, 2007, Barcelona, Spain. pp. 13-26.