A spherical representation for efficient visual loop closing. - Alexandre Chapoulie; Patrick Rives; David Filliat (ICCV Workshops, 2011)

Topological segmentation of indoors/outdoors sequences of spherical views. - Alexandre Chapoulie; Patrick Rives; David Filliat (IROS, 2012)

Contributions aux méthodes de détection visuelle de fermeture de boucle et de segmentation topologique de l'environnement. (Contributions to visual loop closure detection and environment topological segmentation methods). - Alexandre Chapoulie (2012)

Appearance-based segmentation of indoors/outdoors sequences of spherical views. - Alexandre Chapoulie; Patrick Rives; David Filliat (IROS, 2013)