@article{sturm08ras,
 author = {J. Sturm, and A. Visser},
 title = {An appearance-based visual compass for mobile robots},
 journal = {Robotics and Autonomous Systems},
 volume = {57},
 number = {5},
 year = {2009},
 issn = {0921-8890},
 pages = {536--545},
 doi = {http://dx.doi.org/10.1016/j.robot.2008.10.002},
 url = {http://www.informatik.uni-freiburg.de/~sturm/media/sturm09ras.pdf},
month = {May},
titleurl = {sturm09ras.pdf},
topic={robocup},
 }