Omnidirectional vision-based ego-pose estimation for an autonomous in-pipe mobile robot
Advanced Robotics (2007) - Comments
doi: 10.1163/156855307780132027  issn: 0169-1864  issn: 1568-5535 

Jongcheol Kim, Masahiro Muramatsu, Yuichiro Murata, Yasuo Suga