Experiments on visual loop closing using vocabulary trees. - Ankita Kumar; Jean-Philippe Tardif; Roy Anati; Kostas Daniilidis (CVPR Workshops, 2008)

Constructing Topological Maps using Markov Random Fields and Loop-Closure Detection. - Roy Anati; Kostas Daniilidis (NIPS, 2009)

Robot localization using soft object detection. - Roy Anati; Davide Scaramuzza 001; Konstantinos G. Derpanis; Kostas Daniilidis (ICRA, 2012)