@article{observabilityandconsistencyanalysisforvi,
  title = {Observability and Consistency Analysis for Visual-Inertial Navigation with Anchored Feature Parameterizations},
  author = {Mitchell Cohen and Vassili Korotkine and James Richard Forbes},
  year = {2026},
  eprint = {2606.19307},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2606.19307},
}