# Hybrid Contact Preintegration for Visual-Inertial-Contact State Estimation Using Factor Graphs

> Research article (2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018) · cited 54× · AI/ML

**Wikidata**: [openalex:W2794127568](https://www.wikidata.org/wiki/openalex:W2794127568)  
**Source**: https://4ort.xyz/entity/hybrid-contact-preintegration-for-visual-inertial-contact-state-estimation-using-factor-graphs