@inproceedings{ICPR-v4-2004-KoseckaY,
	author        = "Jana Kosecka and Xiaolong Yang",
	booktitle     = "{Proceedings of the 17th International Conference on Pattern Recognition, Volume 4}",
	doi           = "10.1109/ICPR.2004.418",
	isbn          = "0-7695-2128-2",
	pages         = "319--322",
	publisher     = "{IEEE Computer Society}",
	title         = "{Global Localization and Relative Pose Estimation Based on Scale-Invariant Features}",
	year          = 2004,
}