@ARTICLE{latif2013ijrr, author = {Y. Latif and C. Cadena and and J. Neira}, title = {Robust loop closing over time for pose graph SLAM}, journal = {The International Journal of Robotics Research}, year = {2013}, volume = {32}, number = {14}, pages={1611-1626}, doi = {10.1177/0278364913498910}, ISSN={0278-3649}, fullauthor = {Yasir Latif and Cesar Cadena and Jos{\'e} Neira}, }