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An Improved Inertial Preintegration Model in Factor Graph O..:

Zhang, Liang ; Wen, Weisong ; Hsu, Li-Ta.
IEEE Transactions on Intelligent Vehicles.  9 (2024)  1 - p. 1641-1653 , 2024
Link: https://doi.org/10.1109/tiv.2023.3282623