@article {11573/1621085,
	title = {{HiPE: Hierarchical Initialization for Pose Graphs}},
	journal = {IEEE ROBOTICS AND AUTOMATION LETTERS},
	volume = {{7}},
	number = {{1}},
	year = {2022},
	pages = {287-294},
	keywords = {SLAM}, {mapping},
	doi = {{10.1109/LRA.2021.3125046}},
	author = {Guadagnino, T. and Di Giammarino, L. and Grisetti, G.}
}
