@article{fusioncorea23stateunscentedkalmanfilterf,
  title = {FusionCore: A 23-State Unscented Kalman Filter for IMU, Wheel Encoder, GPS, and Visual SLAM Fusion in ROS 2},
  author = {Manan Kharwar},
  year = {2026},
  eprint = {2605.25239},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2605.25239},
}