@inproceedings{nidslamrobustmonocularslamusing,
  title = {NID-SLAM: Robust Monocular SLAM Using Normalised Information Distance},
  author = {Geoffrey Pascoe and Will Maddern and Michael Tanner and Pedro Pinies and Paul Newman},
  year = {2017},
  booktitle = {CVPR 2017 7},
  url = {http://openaccess.thecvf.com/content_cvpr_2017/html/Pascoe_NID-SLAM_Robust_Monocular_CVPR_2017_paper.html},
}