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@INPROCEEDINGS{moreno2013erode,
     author = {Moreno, Francisco-Angel and Blanco, Jos{\'{e}}-Luis and Gonz{\'{a}}lez-Jim{\'{e}}nez, Javier},
      month = {may},
      title = {ERODE: An Efficient and Robust Outlier Detector and its Application to Stereovisual Odometry},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
       year = {2013}
}