@inproceedings {mazuran14icra,
	author = {Mazuran, Mladen and Tipaldi, Gian Diego and Spinello, Luciano and Burgard, Wolfram and Stachniss, Cyrill},
	title = {{A Statistical Measure for Map Consistency in SLAM}},
	booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
	year = {2014}
}