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Large Scale Graph-based SLAM using Aerial Images as Prior Information
R. Kuemmerle, B. Steder, C. Dornhege, A. Kleiner, G. Grisetti, and W. Burgard
Autonomous Robots

 author = {K\"ummerle, R. and Steder, B. and Dornhege, C. and Kleiner, A. and Grisetti,
    G. and Burgard, W.},
 doi = {10.1007/s10514-010-9204-1},
 title = {Large Scale Graph-based {SLAM} using Aerial Images as Prior Information},
 journal = {Journal of Autonomous Robots},
 number = {1},
 volume = {30},
 year = {2011},
 pages = {25--39}