@article {11573/1335389, title = {{Chordal Based Error Function for 3D Pose-Graph Optimization}}, journal = {IEEE ROBOTICS AND AUTOMATION LETTERS}, volume = {{5}}, number = {{1}}, year = {2020}, pages = {274-281}, keywords = {{SLAM}}, doi = {{10.1109/LRA.2019.2956456}}, author = {Aloise, Irvin and Grisetti, Giorgio} }