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@INPROCEEDINGS{BrialesIROS16,
        author = {Briales, Jesus and Gonzalez-Jimenez, Javier},
         month = {{{{oct}}}},
         title = {Fast Global Optimality Verification in 3D SLAM},
     booktitle = {Int. Conf. on Intelligent Robots and Systems (IROS)},
          year = {2016},
      location = {Daejeon, Korea},
  organization = {IEEE/RSJ},
           doi = {10.1109/IROS.2016.7759681},
         pages = {4630--4636}
}