@conference {SerGri_SIMPAR14, title = {Using Augmented Measurements to Improve the Convergence of ICP}, year = {2014}, pages = {566{\textendash}577}, publisher = {Springer}, organization = {Springer}, address = {Bergamo, Italy}, doi = {10.1007/978-3-319-11900-7_48}, url = {http://jacoposerafin.com/wp-content/uploads/serafin14simpar.pdf}, author = {Serafin, Jacopo and Grisetti, Giorgio} }