@article{okvis2xopenkeyframebasedvisualinertialsl,
  title = {OKVIS2-X: Open Keyframe-based Visual-Inertial SLAM Configurable with Dense Depth or LiDAR, and GNSS},
  author = {Simon Boche and Jaehyung Jung and Sebastián Barbas Laina and Stefan Leutenegger},
  year = {2025},
  eprint = {2510.04612},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2510.04612},
}