@article{futuremappingthecomputationalstructureof,
  title = {FutureMapping: The Computational Structure of Spatial AI Systems},
  author = {Andrew J. Davison},
  year = {2018},
  eprint = {1803.11288},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1803.11288v1},
}