@Article{GranstromSNR:2011,
  author = 	 {Granstr\"om, K. and Sch\"{o}n, T. B. and Nieto, J. I. and Ramos, F. T.},
  title = 	 {Learning to close loops from range data},
  journal = 	 {International Journal of Robotics Research},
  year = 	 {2011},
  volume = 	 {30},
  number = 	 {4},
  pages = 	 {1728--1754},
  month = 	 {}
}