@inproceedings {mazuran14rss,
	author = {Mazuran, Mladen and Tipaldi, Gian Diego and Spinello, Luciano and Burgard, Wolfram},
	title = {{Nonlinear Graph Sparsification for SLAM}},
	booktitle = {Proceedings of Robotics: Science and Systems (RSS)},
	year = {2014},
	address = {Berkeley}
}