@article {11573/1335389,
	title = {{Chordal Based Error Function for 3D Pose-Graph Optimization}},
	journal = {IEEE ROBOTICS AND AUTOMATION LETTERS},
	volume = {{5}},
	number = {{1}},
	year = {2020},
	pages = {274-281},
	keywords = {{SLAM}},
	doi = {{10.1109/LRA.2019.2956456}},
	author = {Aloise, Irvin and Grisetti, Giorgio}
}
@article {11573/1335389,
	title = {{Chordal Based Error Function for 3D Pose-Graph Optimization}},
	journal = {IEEE ROBOTICS AND AUTOMATION LETTERS},
	volume = {{5}},
	number = {{1}},
	year = {2020},
	pages = {274-281},
	keywords = {{SLAM}},
	doi = {{10.1109/LRA.2019.2956456}},
	author = {Aloise, Irvin and Grisetti, Giorgio}
}
@article {11573/1335389,
	title = {{Chordal Based Error Function for 3D Pose-Graph Optimization}},
	journal = {IEEE ROBOTICS AND AUTOMATION LETTERS},
	volume = {{5}},
	number = {{1}},
	year = {2020},
	pages = {274-281},
	keywords = {{SLAM}},
	doi = {{10.1109/LRA.2019.2956456}},
	author = {Aloise, Irvin and Grisetti, Giorgio}
}
@article {grisetti2020solver,
	title = {Least Squares Optimization: from Theory to Practice},
	journal = {Robotics},
	volume = {9},
	number = {3},
	year = {2020},
	month = {July},
	pages = {51},
	doi = {10.3390/robotics9030051},
	url = {https://www.mdpi.com/2218-6581/9/3/51},
	author = {Grisetti, Giorgio and Guadagnino, Tiziano and Aloise, Irvin and Colosi, Mirco and Della Corte, Bartolomeo and Schlegel, Dominik}
}
@article {11573/1492047,
	title = {{Plug-and-Play SLAM: A Unified SLAM Architecture for Modularity and Ease of Use}},
	volume = {{False}},
	number = {{False}},
	year = {2020},
	pages = {False-False},
	keywords = {camera, lidar, multi-sensor SLAM, SLAM architecture, {SLAM, }},
	doi = {{False}},
	author = {Colosi, Mirco and Aloise, Irvin and Guadagnino, Tiziano and Schlegel, Dominik and Della Corte, Bartolomeo and Arras, Kai O. and Grisetti, Giorgio}
}
@conference {colosi2020plug,
	title = {Plug-and-Play SLAM: A Unified SLAM Architecture for Modularity and Ease of Use},
	booktitle = {2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (to appear in)},
	year = {2020},
	publisher = {IEEE},
	organization = {IEEE},
	url = {https://arxiv.org/pdf/2003.00754v2.pdf},
	author = {Colosi, Mirco and Aloise, Irvin and Guadagnino, Tiziano and Schlegel, Dominik and Della Corte, Bartolomeo and Arras, Kai Oliver and Grisetti, Giorgio}
}
@article {11573/1279803,
	title = {{Systematic Handling of Heterogeneous Geometric Primitives in Graph-SLAM Optimization}},
	journal = {IEEE ROBOTICS AND AUTOMATION LETTERS},
	volume = {{4}},
	number = {{3}},
	year = {2019},
	pages = {2738-2745},
	keywords = {{SLAM}},
	doi = {{10.1109/LRA.2019.2918054}},
	author = {Aloise, Irvin and Della Corte, Bartolomeo and Nardi, Federico and Grisetti, Giorgio}
}
@article {aloise2019systematic,
	title = {Systematic Handling of Heterogeneous Geometric Primitives in Graph-SLAM Optimization},
	journal = {IEEE Robotics and Automation Letters},
	volume = {4},
	number = {3},
	year = {2019},
	pages = {2738{\textendash}2745},
	publisher = {IEEE},
	doi = {10.1109/LRA.2019.2918054},
	url = {http://www.roboticsproceedings.org/rss15/p84.pdf},
	author = {Aloise, Irvin and Della Corte, Bartolomeo and Nardi, Federico and Grisetti, Giorgio}
}
@article {11573/1279803,
	title = {{Systematic Handling of Heterogeneous Geometric Primitives in Graph-SLAM Optimization}},
	journal = {IEEE ROBOTICS AND AUTOMATION LETTERS},
	volume = {{4}},
	number = {{3}},
	year = {2019},
	pages = {2738-2745},
	keywords = {{SLAM}},
	doi = {{10.1109/LRA.2019.2918054}},
	author = {Aloise, Irvin and Della Corte, Bartolomeo and Nardi, Federico and Grisetti, Giorgio}
}
@article {aloise2018matrix,
	title = {Matrix Difference in Pose-Graph Optimization},
	journal = {arXiv preprint arXiv:1809.00952},
	year = {2018},
	url = {https://arxiv.org/abs/1809.00952},
	author = {Aloise, Irvin and Grisetti, Giorgio}
}
