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@INCOLLECTION{slamhandbook-ch2-state,
     author = {Barfoot, Timothy and Dellaert, Frank and Kaess, Michael and Blanco, Jos{\'{e}}-Luis},
      title = {Advanced State Variable Representations},
  booktitle = {SLAM Handbook. From Localization and Mapping to Spatial Intelligence},
    edition = {Luca Carlone and Ayoung Kim and Timothy Barfoot and Daniel Cremers and Frank Dellaert},
    chapter = {2},
       year = {2026},
  publisher = {Cambridge University Press}
}