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M. Li, Liang, G., Luo, H., Qian, H., and Lam, T. Lun, “Robot-to-Robot Relative Pose Estimation based on Semidefinite Relaxation Optimization”, in 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, USA, 2020, pp. 4491–4498.