@inproceedings{latif2014loopclosing,
  title={{An Online Sparsity-congnizant Algorithm for Visual Navigation}},
  author={Latif,Yasir and Huang,Guoquan  and Leonard,John  and and Neira,Jos\'{e}},
  booktitle={Robotics: Science and Systems (RSS) },
  year={2014}
}