@article{goodgraphtooptimizecosteffectivebudget,
  title = {Good Graph to Optimize: Cost-Effective, Budget-Aware Bundle Adjustment in Visual SLAM},
  author = {Yipu Zhao and Justin S. Smith and Patricio A. Vela},
  year = {2020},
  eprint = {2008.10123},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2008.10123v1},
}