@inproceedings{Whelan13iros,
   author = {T. Whelan and M. Kaess and J.J. Leonard and
	J.B. McDonald},
   title = {Deformation-based Loop Closure for Large Scale Dense {RGB-D SLAM}},
   booktitle = {IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS},
   address = {Tokyo, Japan},
   month = {November},
   year = {2013}
}