@InProceedings{bradley-ram-04,
  author =    {David M. Bradley and David Silver and Scott Thayer},
  title =     {A regional point descriptor for global localization in subterranean environments},
  booktitle = {Proceedings of the 2004 IEEE Conf. on Robotics, Automation and Mechatronics (RAM)},
  year =      {2004},
  month =     {December},
  location =  {Singapore}
}