Real-Time SLAM Relocalisation. - Brian Patrick Williams; Georg Klein; Ian D. Reid 001 (ICCV, 2007)

Automatic Relocalisation for a Single-Camera Simultaneous Localisation and Mapping System. - Brian Patrick Williams; Paul Smith; Ian D. Reid 001 (ICRA, 2007)

An image-to-map loop closing method for monocular SLAM. - Brian Patrick Williams; Mark Cummins; José Neira; Paul M. Newman; Ian D. Reid 001; Juan D. Tardós (IROS, 2008)

A comparison of loop closing techniques in monocular SLAM. - Brian Patrick Williams; Mark Cummins; José Neira; Paul M. Newman; Ian Reid 001; Juan D. Tardós (Robotics Auton. Syst., 2009)

On combining visual SLAM and visual odometry. - Brian Patrick Williams; Ian D. Reid 001 (ICRA, 2010)

Automatic Relocalization and Loop Closing for Real-Time Monocular SLAM. - Brian Patrick Williams; Georg Klein; Ian Reid 001 (IEEE Trans. Pattern Anal. Mach. Intell., 2011)