@article {11573/1279803, title = {{Systematic Handling of Heterogeneous Geometric Primitives in Graph-SLAM Optimization}}, journal = {IEEE ROBOTICS AND AUTOMATION LETTERS}, volume = {{4}}, number = {{3}}, year = {2019}, pages = {2738-2745}, keywords = {{SLAM}}, doi = {{10.1109/LRA.2019.2918054}}, author = {Aloise, Irvin and Della Corte, Bartolomeo and Nardi, Federico and Grisetti, Giorgio} }