@Article{Gamallo15_ras,
  author = 	 {C. Gamallo and M. Mucientes and {C.V.} Regueiro},
  title = 	 {Omnidirectional visual {SLAM} under severe occlusions},
  journal = 	 {Robotics and Autonomous Systems},
  year = 	 2015,
  volume =	 65,
  pages =	 {76-87}
}