@article{blanco2010tutorial,
  title={A tutorial on ${SE}(3)$ transformation parameterizations and on-manifold optimization},
  author={Blanco, Jose-Luis},
  journal={University of Malaga, Tech. Rep},
  volume={3},
  year={2010},
  publisher={Citeseer}
}

@article{grisetti2010tutorial,
  title={A tutorial on graph-based {SLAM}},
  author={Grisetti, Giorgio and Kummerle, Rainer and Stachniss, Cyrill and Burgard, Wolfram},
  journal={IEEE Intelligent Transportation Systems Magazine},
  volume={2},
  number={4},
  pages={31--43},
  year={2010},
  publisher={IEEE}
}

@article{thrun2006graph,
  title={The graph {SLAM} algorithm with applications to large-scale mapping of urban structures},
  author={Thrun, Sebastian and Montemerlo, Michael},
  journal={The International Journal of Robotics Research},
  volume={25},
  number={5-6},
  pages={403--429},
  year={2006},
  publisher={SAGE Publications}
}