Gábor Péter Bálint Kiss A Collaborative Graph-based SLAM Framework Using a Computationally Effective Measurement Algebra. 403-412 2023 October 67 Period. Polytech. Electr. Eng. Comput. Sci. 4 https://doi.org/10.3311/ppee.21358 db/journals/eecs/eecs67.html#PeterK23