@inproceedings{paper:kumar-periodic-2022,
  author        = {Hans Kumar and J. Joe Payne and Matthew Travers and Aaron M. Johnson and Howie Choset},
  title         = {Periodic {SLAM}: {U}sing Cyclic Constraints to Improve the Performance of Visual-Inertial {SLAM} on Legged Robots},
  booktitle     = {IEEE Intl.\ Conference on Robotics and Automation},
  month         = {May},
  year          = {2022},
  pages         = {9477--9483},
  address       = {Philadelphia, PA},
  keywords      = {Perception, State Estimation},
  url_PDF       = {http://www.andrew.cmu.edu/user/amj1/papers/ICRA2022_Periodic_SLAM_Paper.pdf},
  url_DOI       = {https://doi.org/10.1109/ICRA46639.2022.9811634}
}

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