@article{botelho_drews junior_figueiredo_rocha_oliveira_2009,  title={Appearance-based odometry and mapping with feature descriptors for underwater robots},  volume={15},  ISSN={0104-6500},  url={https://doi.org/10.1007/BF03194505},  DOI={10.1007/BF03194505},  number={3},  journal={Journal of the Brazilian Computer Society},  publisher={Sociedade Brasileira de Computação},  author={Botelho, Silvia Silva da Costa and Drews Junior, Paulo Lilles Jorge and Figueiredo, Mônica da Silva and Rocha, Celina Haffele Da and Oliveira, Gabriel Leivas},  year={2009},  month={Sep},  pages={47–54} }