Description  Claims  Drawing  Cited references 

US5961571A   [0002] 
GB1202344A   [0006] 

FAB-MAP: Probabilistic Localization and Mapping in the Space of Appearance   [0003] 
View-based Maps   [0004] 
Highly Scalable Appearance-Only SLAM FAB-MAP 2.0   [0008] 
BRIEF: Binary Robust Independent Elementary Features   [0043] 
Real-time video annotations for augmented reality   [0044] 
Efficient homography based tracking and 3-d reconstruction for single-viewpoint sensors   [0044]