@article{mangelson_liu_eustice_vasudevan_2019, title={Guaranteed Globally Optimal Planar Pose Graph and Landmark SLAM via Sparse-Bounded Sums-of-Squares Programming}, DOI={10.1109/icra.2019.8794454}, journal={2019 International Conference on Robotics and Automation (ICRA)}, author={Mangelson, Joshua G. and Liu, Jinsun and Eustice, Ryan M. and Vasudevan, Ram}, year={2019}}