@inproceedings{ijcai2007p343,
  title     = {Fast Incremental Square Root Information Smoothing},
  author    = {Kaess, Michael and Ranganathan, Ananth and Dellaert, Frank},
  booktitle = {Proceedings of the Twentieth International Joint Conference on
               Artificial Intelligence, {IJCAI-07}},
  publisher = {International Joint Conferences on Artificial Intelligence},
  editor    = {Ramon López de Mántaras},
  pages     = {2129--2133},
  year      = {2007},
  url       = {https://ijcai.org/proceedings/2007/343},
}