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CI-Graph simultaneous localization and mapping for three-dimensional reconstruction of large and complex environments using a multicamera system

Pedro Pinies, Lina María Paz, Dorian Gálvez-López, Juan D. Tardós. CI-Graph simultaneous localization and mapping for three-dimensional reconstruction of large and complex environments using a multicamera system. J. Field Robotics, 27(5):561-586, 2010. [doi]

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