B. Steder, G. Grisetti, S. Grzonka, C. Stachniss, A. Rottmann, and W. Burgard.
Learning Maps in 3D using Attitude and Noisy Vision Sensors.
In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2007.

BibTeX entry:

@inproceedings{steder07iros,
  author = {Steder, B. and Grisetti, G. and Grzonka, S. and Stachniss, C. and Rottmann, A.
     and Burgard, W.},
  booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and
     Systems (IROS)},
  year = {2007},
  title = {Learning Maps in {3D} using Attitude and Noisy Vision Sensors}
}