Nabi Jafri, S. R. un, J. Iqbal, H. Khan, and R. Chellali. “A Unified SLAM Solution Using Partial 3D Structure”. Elektronika Ir Elektrotechnika, vol. 20, no. 9, Nov. 2014, pp. 3-8, doi:10.5755/j01.eee.20.9.8707.