@INPROCEEDINGS{LatifDetecting13,
title = {{Detecting the Correct Graph Structure in Pose Graph SLAM}}, 
author ={Y. Latif and C. Cadena and J. Neira}, 
booktitle = {1st Workshop on Robust and Multimodal Inference in Factor Graphs, IEEE Int. Conf. Robotics and Automation}, 
address={ Karsrhure, Germany}, 
month = {May}, 
year ={ 2013 }
}