@article{delapuente14
year={2014},
issn={0929-5593},
journal={Autonomous Robots},
volume={37},
number={3},
doi={10.1007/s10514-014-9386-z},
title={Feature based graph-SLAM in structured environments},
publisher={Springer US},
author={de la Puente, P. and Rodriguez-Losada, D.},
pages={243-260},
}