@article{dualpreintegrationforrelativestateestima,
  title = {Dual Preintegration for Relative State Estimation},
  author = {Ruican Xia and Hailong Pei},
  year = {2025},
  eprint = {2511.21189},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2511.21189},
}