• iSAM2: Incremental Smoothing and Mapping Using the Bayes Tree 

      Kaess, Michael; Johannsson, Hordur; Roberts, Richard; Ila, Viorela; Leonard, John; Dellaert, Frank (Georgia Institute of TechnologySAGE Publications, 2012-02)
      We present a novel data structure, the Bayes tree, that provides an algorithmic foundation enabling a better understanding of existing graphical model inference algorithms and their connection to sparse matrix factorization ...