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John G. Rogers, Arthur Schang, Carlos Nieto-Granda, John Ware, John Carter, Jonathan Fink, Ethan Stump. The DARPA SubT Urban Circuit Mapping Dataset and Evaluation Metric. In Bruno Siciliano, Cecilia Laschi, Oussama Khatib, editors, Experimental Robotics - The 17th International Symposium, ISER 2020, La Valletta, Malta, November 9-12, 2020 (postponed to 2021). Volume 19 of Springer Proceedings in Advanced Robotics, pages 391-401, Springer, 2020. [doi]

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