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Visual-Inertial SLAM for Unstructured Outdoor Environments: Benchmarking the Benefits and Computational Costs of Loop Closing

Fabian Schmidt, Constantin Blessing, Markus Enzweiler, Abhinav Valada. Visual-Inertial SLAM for Unstructured Outdoor Environments: Benchmarking the Benefits and Computational Costs of Loop Closing. J. Field Robotics, 42(7):3726-3747, October 2025. [doi]

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