@misc{davison2018futuremapping,
  title={FutureMapping: The Computational Structure of Spatial AI Systems},
  author={Andrew J. Davison},
  year={2018},
  eprint={1803.11288},
  archivePrefix={arXiv},
  primaryClass={cs.AI},
  url={https://arxiv.org/abs/1803.11288}
}