@misc{nemiroff2023joint,
  title={Joint On-Manifold Gravity and Accelerometer Intrinsics Estimation for Inertially Aligned Mapping},
  author={Ryan Nemiroff and Kenny Chen and Brett T. Lopez},
  year={2023},
  eprint={2303.03505},
  archivePrefix={arXiv},
  primaryClass={cs.RO},
  url={https://arxiv.org/abs/2303.03505}
}