@article {11573/1222828,
	title = {{Unified Representation and Registration of Heterogeneous Sets of Geometric Primitives}},
	journal = {IEEE ROBOTICS AND AUTOMATION LETTERS},
	volume = {{4}},
	number = {{2}},
	year = {2019},
	pages = {625-632},
	keywords = {SLAM}, {localization},
	doi = {{10.1109/LRA.2019.2891989}},
	author = {Nardi, Federico and Della Corte, Bartolomeo and Grisetti, Giorgio}
}
