A Square Root Unscented Kalman Filter for visual monoSLAM. - Steven A. Holmes; Georg Klein; David William Murray 001 (ICRA, 2008)

A relative frame representation for fixed-time bundle adjustment in SFM. - Steven A. Holmes; Gabe Sibley; Georg Klein; David William Murray 001 (ICRA, 2009)

An O(N²) Square Root Unscented Kalman Filter for Visual Simultaneous Localization and Mapping. - Steven A. Holmes; Georg Klein; David William Murray 001 (IEEE Trans. Pattern Anal. Mach. Intell., 2009)

Monocular SLAM with Conditionally Independent Split Mapping. - Steven A. Holmes; David William Murray 001 (IEEE Trans. Pattern Anal. Mach. Intell., 2013)