@article{futuremapping2gaussianbeliefpropagation,
  title = {FutureMapping 2: Gaussian Belief Propagation for Spatial AI},
  author = {Andrew J. Davison and Joseph Ortiz},
  year = {2019},
  eprint = {1910.14139},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/1910.14139v2},
}