@article{localizationforgroundrobotsonmanifold,
  title = {Pose Estimation for Ground Robots: On Manifold Representation, Integration, Re-Parameterization, and Optimization},
  author = {Mingming Zhang and Xingxing Zuo and Yiming Chen and Yong liu and Mingyang Li},
  year = {2019},
  eprint = {1909.03423},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/1909.03423v3},
}