@article{cohn2020tsbp,
  title={TSBP: Tangent Space Belief Propagation for Manifold Learning},
  author={Cohn, Thomas and Jenkins, Odest Chadwicke and Desingh, Karthik and Zeng, Zhen},
  journal={IEEE Robotics and Automation Letters},
  volume={5},
  number={4},
  pages={6694--6701},
  year={2020},
  publisher={IEEE}
}