Duality-based Verification Techniques for 2D SLAM. Carlone, L. & Dellaert, F. In 2015.
bibtex   
@inproceedings{luca_carlone_duality-based_2015,
	title = {Duality-based {Verification} {Techniques} for 2D {SLAM}},
	author = {Luca Carlone and Frank Dellaert},
	year = {2015}
}

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