Modern MAP inference methods for accurate and faster occupancy grid mapping on higher order factor graphs. Dhiman, V.; Kundu, A.; Dellaert, F.; and Corso, J. In 2014.
Modern MAP inference methods for accurate and faster occupancy grid mapping on higher order factor graphs [pdf]Paper  bibtex   
@inproceedings{vikas_dhiman_modern_2014,
	title = {Modern {MAP} inference methods for accurate and faster occupancy grid mapping on higher order factor graphs},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Dhiman14icra.pdf},
	author = {Vikas Dhiman and Abhijit Kundu and Frank Dellaert and Jason Corso},
	year = {2014}
}
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