@conference {Goeddel2016,
	title = {FLAT2D: Fast Localization from Approximate Transformation into 2D},
	booktitle = {Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS)},
	year = {2016},
	pages = {1932-1939},
	address = {Daejeon, Korea},
	doi = {10.1109/IROS.2016.7759305},
	url = {http://jacoposerafin.com/wp-content/uploads/goeddel16iros.pdf},
	author = {Goeddel, Robert and Kershaw, Carl and Serafin, Jacopo and Olson, Edwin}
}
