@conference {lazaro2018efficient, title = {Efficient long-term mapping in dynamic environments}, booktitle = {2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, year = {2018}, pages = {153{\textendash}160}, publisher = {IEEE}, organization = {IEEE}, author = {L{\'a}zaro, Mar{\'\i}a T and Capobianco, Roberto and Grisetti, Giorgio} }