@inproceedings {agarwal14icra,
	author = {Agarwal, Pratik and Grisetti, Giorgio and Tipaldi, Gian Diego and Spinello, Luciano and Burgard, Wolfram and Stachniss, Cyrill},
	title = {{Experimental Analysis of Dynamic Covariance Scaling for Robust Map Optimization Under Bad Initial Estimates}},
	booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
	year = {2014}
}