Presented with the permission of NASA's Jet Propulsion Laboratory (JPL) in:

J. Sergeant, G. Doran, D. R. Thompson, C. Lehnert, A. Allwood, B. Upcroft, M. Milford, "Towards Multimodal and Condition-Invariant Vision-based Registration for Robot Positioning on Changing Surfaces," Proceedings of the Australasian Conference on Robotics and Automation, 2016.

Further referenced in:

J. Sergeant, G. Doran, D. R. Thompson, C. Lehnert, A. Allwood, B. Upcroft, M. Milford, "Appearance-Invariant Surface Registration for Robot Positioning," International Conference on Robotics and Automation 2017, 2017.

Associated code for the above papers can be obtained at the following repository:

https://github.com/jamessergeant/seqreg_tpp.git