@article{solaMicroLieTheory2021,
  title         = {A Micro {{Lie}} Theory for State Estimation in Robotics},
  author        = {Sol{\`a}, Joan and Deray, Jeremie and Atchuthan, Dinesh},
  year          = {2021},
  month         = dec,
  journal       = {arXiv:1812.01537},
  eprint        = {1812.01537},
  primaryclass  = {cs},
  urldate       = {2022-05-11},
  archiveprefix = {arXiv}
}