@article{milford2014vision,
  title={Vision-based Simultaneous Localization and Mapping in Changing Outdoor Environments},
  author={Milford, Michael and Vig, Eleonora and Scheirer, Walter and Cox, David},
  journal={Journal of Field Robotics},
  volume={31},
  number={5},
  pages={780--802},
  year={2014},
  publisher={Wiley Online Library}
}