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@ARTICLE{jaimez_tro_2018,
    author = {Jaimez, Mariano and Monroy, Javier and Lopez-Antequera, Manuel and Gonzalez-Jimenez, Javier},
     title = {Robust Planar Odometry based on Symmetric Range Flow and Multi-Scan Alignment},
   journal = {IEEE Transactions on Robotics},
      year = {2018},
      issn = {1552-3098},
       url = {http://mapir.uma.es/papersrepo/2018/2018-jaimez_TRO_Robust_Planar_Odometryy.pdf},
       doi = {10.1109/TRO.2018.2861911},
     pages = {1623--1635}
}