Acknowledgments and References

Thanks to Luca Larlone for allowing inclusion of the Intel dataset <https://lucacarlone.mit.edu/datasets/>_ in this repo.

1. Carlone, L. and Censi, A., 2014. From angular manifolds to the integer lattice: Guaranteed orientation estimation with application to pose graph optimization <https://arxiv.org/pdf/1211.3063>_. IEEE Transactions on Robotics, 30(2), pp.475-492.