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@ARTICLE{moreno2016ctslam,
    author = {Moreno, Francisco-Angel and Blanco, Jos{\'{e}}-Luis and Gonz{\'{a}}lez-Jim{\'{e}}nez, Javier},
     month = {{aug}},
     title = {A constant-time SLAM back-end in the continuum between global mapping and submapping: application to visual stereo SLAM},
   journal = {International Journal of Robotics Research},
    number = {35},
      year = {2016},
       doi = {10.1177/0278364915619238},
     pages = {1036--1056}
}