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Switchable constraints for robust pose graph SLAM

Niko Sünderhauf, Peter Protzel. Switchable constraints for robust pose graph SLAM. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012, Vilamoura, Algarve, Portugal, October 7-12, 2012. pages 1879-1884, IEEE, 2012. [doi]

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