@conference {grisetti08online,
	title = {Online Constraint Network Optimization for Efficient Maximum Likelihood Mapping},
	booktitle = {Proceedings of International Conference on Robotics and Automation ({ICRA})},
	year = {2008},
	pages = {1880{\textendash}1885},
	doi = {10.1109/ROBOT.2008.4543481},
	author = {Giorgio Grisetti and Dario Lodi Rizzini and Cyrill Stachniss and Edwin Olson and Wolfram Burgard}
}
