@article{discretecontinuoussmoothingandmapping,
  title = {Discrete-Continuous Smoothing and Mapping},
  author = {Kevin J. Doherty and Ziqi Lu and Kurran Singh and John J. Leonard},
  year = {2022},
  eprint = {2204.11936},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2204.11936v3},
}