@article {11573/1516433,
	title = {{Sparse Pose Graph Optimization in Cycle Space}},
	journal = {IEEE TRANSACTIONS ON ROBOTICS},
	volume = {{False}},
	number = {{False}},
	year = {2021},
	pages = {1-20},
	keywords = {pose graph optimization (PGO), simultaneous localization and mapping (SLAM), special Euclidean group (SE(3))}, {Minimum cycle basis},
	doi = {{10.1109/TRO.2021.3050328}},
	author = {Bai, F. and Vidal-Calleja, T. and Grisetti, G.}
}
