@inproceedings {mazuran15isrr,
	author = {Mazuran, Mladen and Boniardi, Federico and Burgard, Wolfram and Tipaldi, Gian Diego},
	title = {{Relative Topometric Localization in Globally Inconsistent Maps}},
	booktitle = {Proceedings of the International Symposium on Robotics Research (ISRR)},
	year = {2015}
}