@article{cplslamefficientandcertifiablycorrect,
  title = {CPL-SLAM: Efficient and Certifiably Correct Planar Graph-Based SLAM Using the Complex Number Representation},
  author = {Taosha Fan and Hanlin Wang and Michael Rubenstein and Todd Murphey},
  year = {2020},
  eprint = {2007.06708},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2007.06708v1},
}