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@INPROCEEDINGS{edufdez_icra2013,
     author = {Fernández-Moral, Eduardo and Mayol-Cuevas, Walterio and Arevalo-Espejo, Vicente and Gonzalez-Jimenez, Javier},
      title = {Fast place recognition with plane-based maps},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
       year = {2013},
   location = {Karlsruhe (Germany)},
        url = {http://www.mrpt.org/pbmap}
}