W. Burgard, C. Stachniss, G. Grisetti, B. Steder, R. Kümmerle, C. Dornhege, M. Ruhnke, A. Kleiner, and Juan D. Tardós.
A Comparison of SLAM Algorithms Based on a Graph of Relations.
In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS). 2009.

BibTeX entry:

@inproceedings{burgard09iros,
  author = {Burgard, W. and Stachniss, C. and Grisetti, G. and Steder, B. and
     K{\"u}mmerle, R. and Dornhege, C. and Ruhnke, M. and Kleiner, A. and
     Tard{\'o}s, Juan D.},
  booktitle = {Proc. of the {IEEE/RSJ} Int. Conf. on Intelligent Robots and Systems (IROS)},
  year = {2009},
  title = {A Comparison of {SLAM} Algorithms Based on a Graph of Relations}
}