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}
}