TY  - JOUR 
T1  - On-line SLAM using clustered landmarks with omnidirectional vision
JO  - Journal of the Brazilian Society of Mechanical Sciences and Engineering
A1  - Okamoto Jr., Jun
A1  - Guizilini, Vitor Campanholo
SN  - 1678-5878
UL  - 10.1590/S1678-58782010000500006
VL  - 32 
Y1  - 2010
PB  - Brasil 
ER  -