@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.} }