@article {abdallah2007benchmark,
	title = {A benchmark for outdoor vision SLAM systems},
	journal = {Journal of Field Robotics},
	volume = {24},
	number = {1-2},
	year = {2007},
	pages = {145{\textendash}165},
	publisher = {Wiley Subscription Services, Inc., A Wiley Company Hoboken},
	author = {Abdallah, Samer M and Asmar, Daniel C and Zelek, John S}
}
