@article{okamoto jr._guizilini_2010,  title={On-line SLAM using clustered landmarks with omnidirectional vision},  volume={32},  ISSN={1678-5878},  url={https://doi.org/10.1590/S1678-58782010000500006},  DOI={10.1590/S1678-58782010000500006},  number={spe},  journal={Journal of the Brazilian Society of Mechanical Sciences and Engineering},  publisher={Associação Brasileira de Engenharia e Ciências Mecânicas - ABCM},  author={Okamoto Jr., Jun and Guizilini, Vitor Campanholo},  year={2010},  month={Dec},  pages={468–476} }