@inproceedings{yong-dian_jian_ispcg:_2014,
	title = {{iSPCG}: {Incremental} {Subgraph}-{Preconditioned} {Conjugate} {Gradient} {Method} for {Online} {SLAM} with {Many} {Loop}-{Closures}},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Jian14iros.pdf},
	author = {Yong-Dian Jian and Frank Dellaert},
	year = {2014}
}

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