@inproceedings{latif2012realizing,
  title={Realizing, reversing, recovering: Incremental robust loop closing over time using the irrr algorithm},
  author={Latif, Yasir and Cadena, C{\'e}sar and Neira, Jos{\'e}},
  booktitle={Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on},
  pages={4211--4217},
  year={2012},
  organization={IEEE}
}