@article{articlee85fb488,
title   = {On-line SLAM using clustered landmarks with omnidiretional vision},
author = {Okamoto Junior, Jun and Guizilini, Vitor Campanholo},
year = {2010},
doi = {10.1590/s1678-58782010000500006},
journal   = {Journal of the Brazilian Society of Mechanical Sciences}
}