Invariant Smoothing for Localization: Including the IMU Biases

@misc{barrau2024invariantsmoothinglocalization,
      title={Invariant Smoothing for Localization: Including the IMU Biases}, 
      author={Axel Barrau and Silvère Bonnabel and Paul Chauchat},
      year={2024},
      eprint={2309.13903},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2309.13903}, 
}