@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}
}
