@InProceedings{liu12dpfact,
  author	= {M. Liu and R. Siegwart},
  title		= {{DP-FACT: Towards topological mapping and scene recognition
		  with color for omnidirectional camera}},
  booktitle	= {Proc. of the IEEE International Conference on Robotics and
		  Automation (ICRA)},
  year		= {2012}
}