@article{MuPaDe02,
  author={R. Murrieta-Cid and C. Parra, and M. Devy},
  title={Visual Navigation in Natural Environments: From Range and Color Data to a Landmark-based Model},
  journal={Journal on Autonomous Robots},
  month={September},
  pages={143--168},
  volume=13,
  number=2,
  year={2002}}