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@ARTICLE{fernandez2015ecl,
    author = {Fernández-Moral, Eduardo and Gonzalez-Jimenez, Javier and Arevalo-Espejo, Vicente},
     title = {Extrinsic Calibration of 2D Laser Rangefinders from Perpendicular Plane Observations},
   journal = {International Journal of Robotics Research},
    volume = {34},
    number = {11},
      year = {2015},
       doi = {10.1177/0278364915580683},
     pages = {1401--1417}
}