Kaustubh Pathak, Andreas Birk 0002, Narunas Vaskevicius, Max Pfingsthorn, Sören Schwertfeger, Jann Poppinga. Online three-dimensional SLAM by registration of large planar surface segments and closed-form pose-graph relaxation. J. Field Robotics, 27(1):52-84, 2010. [doi]
Abstract is missing.