@article {1809.06977, archivePrefix = {arXiv}, eprint = {1809.06977}, primaryClass = {cs.RO}, author = {Natalie Jablonsky and Michael Milford and Niko Sünderhauf}, title = {An Orientation Factor for Object-Oriented SLAM}, year = {2018}, url = {http://arxiv.org/abs/1809.06977} }