B. Steder, G. Grisetti, S. Grzonka, C. Stachniss, and W. Burgard.
Estimating Consistent Elevation Maps using Down-Looking Cameras and Inertial Sensors.
In Proc. of the Workshop on Robotic Perception on the International Conference on Computer Vision Theory and Applications. 2008.

BibTeX entry:

@inproceedings{steder08visapp,
  author = {Steder, B. and Grisetti, G. and Grzonka, S. and Stachniss, C. and Burgard, W.},
  booktitle = {Proc. of the Workshop on Robotic Perception on the International Conference on
     Computer Vision Theory and Applications},
  year = {2008},
  title = {Estimating Consistent Elevation Maps using Down-Looking Cameras and Inertial
     Sensors}
}