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@ARTICLE{briales17RAL,
    author = {Briales, Jesus and Gonzalez-Jimenez, Javier},
     title = {Cartan-Sync: Fast and Global SE(d)-Synchronization},
   journal = {Robotics and Automation Letters},
      year = {2017},
       doi = {10.1109/LRA.2017.2718661}
}