Huai, Jianzhu, Yukai Lin, Yuan Zhuang, and Min Shi. 2021. “Consistent Right-Invariant Fixed-Lag Smoother With Application to Visual Inertial SLAM”. Proceedings of the AAAI Conference on Artificial Intelligence 35 (7):6084-92. https://doi.org/10.1609/aaai.v35i7.16758.