@misc{gtsam,
    author       = {{Borg Lab}},
    title        = {{GTSAM}},
    month        = jul,
    year         = 2020,
    version      = {4.0.3},
    url          = {https://github.com/borglab/gtsam}
    }

@article{imu-preintegration,
    author = {{Christian Forster and Luca Carlone and Frank Dellaert and Davide Scaramuzza}},
    title = {{IMU preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation}},
    year = 2015

}

@techreport{factorgraphs,
    author = {Frank Dellaert},
    title = {{Factor Graphs and GTSAM: A Hands-On Introduction}},
    number = {GT-RIM-CP\&R-2012-002},
    month = jul,
    year = 2012

}