@inproceedings{Chli:Davison:ICRA2009,
title = "Automatically and Efficiently Inferring the Hierarchical Structure of Visual Maps",
booktitle = "Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)",
pages = "387--394",
year = "2009",
author = "Margarita Chli and Andrew J. Davison"
}