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@INPROCEEDINGS{blanco2013srba,
     author = {Blanco, José-Luis and Gonzalez-Jimenez, Javier and Fernández-Madrigal, Juan-Antonio},
      month = {{may}},
      title = {Sparser Relative Bundle Adjustment (SRBA): constant-time maintenance and local optimization of arbitrarily large maps},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
       year = {2013},
        url = {http://www.mrpt.org/srba}
}