Efficient Construction of Globally Consistent Ladar Maps Using Pose Network Topology and Nonlinear Programming.

Alonzo Kelly Ranjith Unnikrishnan Efficient Construction of Globally Consistent Ladar Maps Using Pose Network Topology and Nonlinear Programming. 70-79 2003 ISRR http://dx.doi.org/10.1007/11008941_8 conf/isrr/2003 db/conf/isrr/isrr2003.html#KellyU03