TY  - JOUR 
T1  - Appearance-based odometry and mapping with feature descriptors for underwater robots
JO  - Journal of the Brazilian Computer Society
A1  - Botelho, Silvia Silva da Costa
A1  - Drews Junior, Paulo Lilles Jorge
A1  - Figueiredo, Mônica da Silva
A1  - Rocha, Celina Haffele Da
A1  - Oliveira, Gabriel Leivas
SN  - 0104-6500
UL  - 10.1007/BF03194505
VL  - 15 
Y1  - 2009
PB  - Brazil 
ER  -