@InProceedings{Georgiev02,
  author =       {Atanas Georgiev and Peter K. Allen}
  title =        {Vision for Mobile Robot Localization in Urban Environments},
  booktitle =    {Proc. of IEEE Int. Conference on Intelligent Robots and
                  Systems, Lausanne, Switzerland"}
  pages =        {472-477},
  month =        {October},
  year =         2002
}