A Tree Parameterization for Efficiently Computing Maximum Likelihood Maps using Gradient Descent - researchr publication

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Giorgio Grisetti, Cyrill Stachniss, Slawomir Grzonka, Wolfram Burgard. A Tree Parameterization for Efficiently Computing Maximum Likelihood Maps using Gradient Descent. In Wolfram Burgard, Oliver Brock, Cyrill Stachniss, editors, Robotics: Science and Systems III, June 27-30, 2007, Georgia Institute of Technology, Atlanta, Georgia, USA. The MIT Press, 2007. [doi]

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