@article{simultaneouslocalizationandmappingthroug,
  title = {Simultaneous Localization and Mapping: Through the Lens of Nonlinear Optimization},
  author = {Amay Saxena and Chih-Yuan Chiu and Joseph Menke and Ritika Shrivastava and Shankar Sastry},
  year = {2021},
  eprint = {2112.05921},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2112.05921v4},
}