@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} }