Efficient Sparse Pose Adjustment for 2D mapping - Konolige, K; Grisetti, G; Kümmerle, Rainer; Burgard, W; Limketkai, B; Vincent, R (2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010)
Keywords: Linear systems; Optimization; Robustness; Simultaneous localization and mapping; Sparse matrices