@inbook {asmar2009vision,
	title = {Vision SLAM maps: Towards richer content},
	booktitle = {Design and Control of Intelligent Robotic Systems},
	year = {2009},
	pages = {303{\textendash}329},
	publisher = {Springer, Berlin, Heidelberg},
	organization = {Springer, Berlin, Heidelberg},
	author = {Asmar, Daniel C and Abdallah, Samer M and Zelek, John S}
}
