@inproceedings{DBLP:conf/icra/KargWSDB10,
  author    = {Michael Karg and
               Kai M. Wurm and
               Cyrill Stachniss and
               Klaus C. J. Dietmayer and
               Wolfram Burgard},
  title     = {Consistent mapping of multistory buildings by introducing
               global constraints to graph-based SLAM},
  booktitle = {ICRA},
  year      = {2010},
  pages     = {5383-5388},
  ee        = {http://dx.doi.org/10.1109/ROBOT.2010.5509977},
  crossref  = {DBLP:conf/icra/2010},
  bibsource = {DBLP, http://dblp.uni-trier.de}
}

@proceedings{DBLP:conf/icra/2010,
  title     = {IEEE International Conference on Robotics and Automation,
               ICRA 2010, Anchorage, Alaska, USA, 3-7 May 2010},
  booktitle = {ICRA},
  publisher = {IEEE},
  year      = {2010},
  bibsource = {DBLP, http://dblp.uni-trier.de}
}