@article {grisetti10titsmag,
	title = {A Tutorial on Graph-Based {SLAM}},
	journal = {Intelligent Transportation Systems Magazine, IEEE},
	volume = {2},
	number = {4},
	year = {2010},
	pages = {31{\textendash}43},
	doi = {10.1109/MITS.2010.939925},
	author = {Grisetti, G. and Kuemmerle, R. and Stachniss, C. and Burgard, W.}
}
