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iSAM: Fast Incremental Smoothing and Mapping with Efficient Data Association., , and . ICRA, page 1670-1677. IEEE, (2007)Probabilistic structure matching for visual SLAM with a multi-camera rig., and . Comput. Vis. Image Underst., 114 (2): 286-296 (2010)Information fusion in navigation systems via factor graph based incremental smoothing., , , and . Robotics Auton. Syst., 61 (8): 721-738 (2013)Autonomous Flight in GPS-Denied Environments Using Monocular Vision and Inertial Sensors., , , , and . J. Aerosp. Inf. Syst., 10 (4): 172-186 (2013)STEAP: simultaneous trajectory estimation and planning., , , and . Auton. Robots, 43 (2): 415-434 (2019)Flow separation for fast and robust stereo odometry., , and . ICRA, page 3539-3544. IEEE, (2009)Towards Planning in Generalized Belief Space., , and . ISRR, volume 114 of Springer Tracts in Advanced Robotics, page 593-609. Springer, (2013)A Rao-Blackwellized MCMC algorithm for recovering piecewise planar 3D models from multiple view RGBD images., and . ICIP, page 5392. IEEE, (2014)Duality-based verification techniques for 2D SLAM., and . ICRA, page 4589-4596. IEEE, (2015)Planning under uncertainty in the continuous domain: A generalized belief space approach., , and . ICRA, page 6763-6770. IEEE, (2014)