Acknowledgments and References
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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.