@article{kuemmerle_et_al_auro09,
   author = {R. K{\"u}mmerle and B. Steder and C. Dornhege and M. Ruhnke
	and G. Grisetti and C. Stachniss and A. Kleiner},
   title = {On Measuring the Accuracy of {SLAM} Algorithms},
   journal = {Autonomous Robots},
   volume = {27},
   number = {4},
   pages = {387--407},
   year = {2009}
}