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@INBOOK{,
        author = {Fern{\'{a}}ndez-Moral, Eduardo and Ar{\'{e}}valo, Vicente and Gonz{\'{a}}lez-Jim{\'{e}}nez, Javier},
      keywords = {Map partitioning, Metric-topological mapping, Monocular SLAM},
         title = {Hybrid Metric-Topological Mapping for Large Scale Monocular SLAM},
     booktitle = {Informatics in Control, Automation and Robotics},
        series = {Lecture Notes in Electrical Engineering},
        volume = {325},
          year = {2015},
     publisher = {Springer International Publishing},
  organization = {INSTICC},
          isbn = {978-3-319-10890-2},
           url = {http://dx.doi.org/10.1007/978-3-319-10891-9_12},
           doi = {10.1007/978-3-319-10891-9_12},
         pages = {217--232}
}