@article {Stewart1990,
	title = {{A model-based approach to 3-D imaging and mapping underwater}},
	journal = {Journal of Offshore Mechanics and Arctic Engineering},
	volume = {112},
	year = {1990},
	pages = {352{\textendash}356},
	issn = {0892-7219},
	doi = {10.1115/1.2919877},
	url = {http://dx.doi.org/10.1115/1.2919877},
	author = {Stewart, W K}
}
