Elad Michael Tyler H. Summers Tony A. Wood Chris Manzie Iman Shames Probabilistic Data Association for Semantic SLAM at Scale. 4359-4364 2022 IROS https://doi.org/10.1109/IROS47612.2022.9981750 conf/iros/2022 db/conf/iros/iros2022.html#MichaelSWMS22