@INPROCEEDINGS{ holz_2010_icra,
  author = {Dirk Holz and Sven Behnke},
  title = {{S}ancta {S}implicitas -- {O}n the efficiency and achievable results of {SLAM} using {ICP}-{B}ased {I}ncremental {R}egistration},
  booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
  month = {May},
  year = {2010},
  pages = {1380--1387},
  address = {Anchorage, Alaska, USA}
}