@article{efficienttwostepoptimizationforlarge,
  title = {Efficient two step optimization for large embedded deformation graph based SLAM},
  author = {Jingwei Song and Fang Bai and Liang Zhao and Shoudong Huang and Rong Xiong},
  year = {2019},
  eprint = {1906.08477},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/1906.08477v2},
}