@article{delapuente15,
title = "Feature based graph \{SLAM\} with high level representation using rectangles ",
journal = "Robotics and Autonomous Systems ",
volume = "63, Part 1",
number = "0",
pages = "80 - 88",
year = "2015",
issn = "0921-8890",
doi = "http://dx.doi.org/10.1016/j.robot.2014.09.006",
author = "P. de la Puente and D. Rodriguez-Losada",
}