@article{directsparsemapping,
  title = {Direct Sparse Mapping},
  author = {Jon Zubizarreta and Iker Aguinaga and J. M. M. Montiel},
  year = {2019},
  eprint = {1904.06577},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/1904.06577v2},
}