@conference {grisetti12iros,
	title = {Robust Optimization of Factor Graphs by using Condensed Measurement},
	booktitle = {Proc. of the {IEEE/RSJ} Int. Conf. on Intelligent Robots and Systems (IROS)},
	year = {2012},
	month = {October},
	address = {Vilamoura, Portugal},
	doi = {10.1109/IROS.2012.6385779},
	author = {Grisetti, G. and K{\"u}mmerle, R. and Ni, K.}
}
