@article{publication-14064,
	author={Cadena, Cesar and Carlone, Luca and Carrillo, Henry and Latif, Yasir and Scaramuzza, Davide and Neira, Jose and Reid, Ian and Leonard, John J},
	doi={10.1109/tro.2016.2624754},
	issn={1552-3098},
	journal={IEEE Transactions on Robotics},
	number=6,
	pages={1309-1332},
	publisher={Institute of Electrical and Electronics Engineers},
	title={Past, present, and future of simultaneous localization and mapping: Toward the robust-perception age},
	volume=32,
	year=2016,
}