Irvin Aloise, Bartolomeo Della Corte, Federico Nardi, Giorgio Grisetti. Systematic Handling of Heterogeneous Geometric Primitives in Graph-SLAM Optimization. In Antonio Bicchi, Hadas Kress-Gazit, Seth Hutchinson, editors, Robotics: Science and Systems XV, University of Freiburg, Freiburg im Breisgau, Germany, June 22-26, 2019. 2019. [doi]
Abstract is missing.