@INPROCEEDINGS{latif2014iros, title={Robust Graph SLAM Back-ends: A Comparative Analysis}, author = {Y. Latif and C. Cadena and J. Neira}, booktitle = {IEEE/RSJ International Conference on Intelligent RObots and Systems}, year = {2014}, address = {Chicago, Illinois, USA}, month = {September}, fullauthor = {Yasir Latif and Cesar Cadena and Jos{\'e} Neira}, }