@ARTICLE{Bellotto2007c,
  author = {N. Bellotto and K. Burn and E. Fletcher and S. Wermter},
  title = {Appearance-based localization for mobile robots using digital zoom
	and visual compass},
  journal = {Robotics and Autonomous Systems},
  year = {2008},
  volume = {56},
  pages = {143-156},
  number = {2},
  month = {February}
}