1-point RANSAC for EKF-based Structure from Motion. - Javier Civera 001; Oscar G. Grasa; Andrew J. Davison; J. M. M. Montiel (IROS, 2009)

1-Point RANSAC for extended Kalman filtering: Application to real-time structure from motion and visual odometry. - Javier Civera 001; Oscar G. Grasa; Andrew J. Davison; J. M. M. Montiel (J. Field Robotics, 2010)

EKF monocular SLAM with relocalization for laparoscopic sequences. - Oscar G. Grasa; Javier Civera 001; J. M. M. Montiel (ICRA, 2011)

Visual SLAM for Handheld Monocular Endoscope. - Oscar G. Grasa; Ernesto Bernal; Santiago Casado; Ismael Gil; J. M. M. Montiel (IEEE Trans. Medical Imaging, 2014)

On-patient see-through augmented reality based on visual SLAM. - Nader Mahmoud; Oscar G. Grasa; Stéphane A. Nicolau; Christophe Doignon; Luc Soler; Jacques Marescaux; J. M. M. Montiel (Int. J. Comput. Assist. Radiol. Surg., 2017)