Viet Nguyen, Ahad Harati, Nicola Tomatis, Agostino Martinelli, Roland Siegwart. Orthogonal SLAM: a Step toward Lightweight Indoor Autonomous Navigation.
Proc. of the IEEE-RSJ Int. Conf. on Intelligent Robots and Systems, 2006, Beijing (CN), China. 2006.
〈inria-00182098〉 
