@article{okvis2realtimescalablevisualinertialslam,
  title = {OKVIS2: Realtime Scalable Visual-Inertial SLAM with Loop Closure},
  author = {Stefan Leutenegger},
  year = {2022},
  eprint = {2202.09199},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2202.09199v2},
}