@article{slamwithobjectsusinganonparametricpose,
  title = {SLAM with Objects using a Nonparametric Pose Graph},
  author = {Beipeng Mu and Shih-Yuan Liu and Liam Paull and John Leonard and Jonathan How},
  year = {2017},
  eprint = {1704.05959},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1704.05959v1},
}