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@ARTICLE{blanco2013rma,
    author = {Blanco, José-Luis and Gonzalez-Jimenez, Javier and Fernández-Madrigal, Juan-Antonio},
     title = {A Robust, Multi-Hypothesis Approach to Matching Occupancy Grid Maps},
   journal = {Robotica},
      year = {2013},
       url = {http://journals.cambridge.org/action/displayAbstract?aid=8815308},
       doi = {10.1017/S0263574712000732}
}