@inproceedings{burgard_et_al_iros09,
   author = {W. Burgard and C. Stachniss and G. Grisetti and B. Steder and
	R. K{\"u}mmerle and C. Dornhege and M. Ruhnke and A. Kleiner and
	Juan D. Tard{\'o}s},
   title = {A Comparison of SLAM Algorithms Based on a Graph of Relations},
   booktitle = {Proc. of the {IEEE/RSJ} Int. Conf. on Intelligent Robots
	and Systems {(IROS)}},
   pages = {2089--2095},
   address = {St. Louis, MO, USA},
   month = oct,
   year = {2009}
}