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@inproceedings{hartwig2022constrained,
 title = {Constrained visual-inertial localization with application and benchmark in laparoscopic surgery},
 author = {R Hartwig and D Ostler and JC Rosenthal and H Feußner and D Wilhelm and D Wollherr},
 booktitle = {2022 International Conference on Robotics and Automation (ICRA)},
 pages = {9513--9520},
 year = {2022},
 organization = {IEEE},
}