R. Kümmerle, B. Steder, C. Dornhege, A. Kleiner, G. Grisetti, and W. Burgard.
Large Scale Graph-based SLAM using Aerial Images as Prior Information.
In Proceedings of Robotics: Science and Systems (RSS). June 2009.

BibTeX entry:

@inproceedings{kuemmerle09rss,
  author = {K{\"u}mmerle, R. and Steder, B. and Dornhege, C. and Kleiner, A. and Grisetti,
     G. and Burgard, W.},
  booktitle = {Proceedings of Robotics: Science and Systems (RSS)},
  month = {June},
  year = {2009},
  title = {Large Scale Graph-based {SLAM} using Aerial Images as Prior Information}
}