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CPL-SLAM: Efficient and Certifiably Correct Planar Graph-Based SLAM Using the Complex Number Representation

Taosha Fan, Hanlin Wang, Michael Rubenstein, Todd Murphey. CPL-SLAM: Efficient and Certifiably Correct Planar Graph-Based SLAM Using the Complex Number Representation. IEEE Transactions on Robotics, 36(6):1719-1737, 2020. [doi]

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