SLAM-Loop Closing with Visually Salient Features. - Paul M. Newman; Kin Leong Ho (ICRA, 2005)

Outdoor SLAM using Visual Appearance and Laser Ranging. - Paul M. Newman; David M. Cole; Kin Leong Ho (ICRA, 2006)

Loop closure detection in SLAM by combining visual and spatial appearance. - Kin Leong Ho; Paul M. Newman (Robotics Auton. Syst., 2006)

Detecting Loop Closure with Scene Sequences. - Kin Leong Ho; Paul M. Newman (Int. J. Comput. Vis., 2007)

Loop Closing Detection in SLAM Using Scene Appearance. - Kin Leong Ho (2007)