@article {younes2017keyframe,
	title = {Keyframe-based monocular SLAM: design, survey, and future directions},
	journal = {Robotics and Autonomous Systems},
	volume = {98},
	year = {2017},
	pages = {67{\textendash}88},
	publisher = {North-Holland},
	author = {Younes, Georges and Asmar, Daniel and Shammas, Elie and Zelek, John}
}
