@article{kretzschmar12ijrr,
  author = {Henrik Kretzschmar and Cyrill Stachniss},
  title = {Information-Theoretic Compression of Pose Graphs 
for Laser-Based SLAM},
  journal = {The International Journal of Robotics Research 
(IJRR)},
  year = {2012},
  volume = {31},
  issue = {11},
  pages = {1219--1230}
}