@article{kuemmerle09auro,
  author = {K\"ummerle, R. and Steder, B. and Dornhege, C. and Ruhnke, M. and Grisetti, G. and Stachniss, C. and Kleiner, A.},
  doi = {http://dx.doi.org/10.1007/s10514-009-9155-6},
  title = {On Measuring the Accuracy of {SLAM} Algorithms},
  journal = {Journal of Autonomous Robots},
  number = {4},
  volume = {27},
  pages = {387-407},
  year = {2009}
}