@inproceedings{maier2014gcpr,
    author={R. Maier and J. Sturm and D. Cremers},
    title={Submap-based Bundle Adjustment for 3D Reconstruction from RGB-D Data},
    booktitle = "German Conference on Pattern Recognition (GCPR)",
    year= {2014},
    address={M\"unster, Germany},
    month={September},
    keywords={rgb-d,rgb-d benchmark}
}