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@INPROCEEDINGS{BrialesICRA17,
        author = {Briales, Jesus and Gonzalez-Jimenez, Javier},
         title = {Initialization of 3D Pose Graph Optimization using Lagrangian duality},
     booktitle = {Int. Conf. on Robotics and Automation (ICRA)},
          year = {2017},
      location = {Singapore, Malaysia},
  organization = {IEEE},
           url = {https://github.com/jbriales/PGO-LagInit}
}