@article{noisemodelsinfeaturebasedstereovisual,
  title = {Noise Models in Feature-based Stereo Visual Odometry},
  author = {Pablo F. Alcantarilla and Oliver J. Woodford},
  year = {2016},
  eprint = {1607.00273},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1607.00273v1},
}