Batch SLAM With PMBM Data Association Sampling and Graph-Based Optimization - Ge, Yu; Kaltiokallio, Ossi; Xia, Yuxuan; Garcia-Fernandez, Angel F; Kim, Hyowon; Talvitie, Jukka; Valkama, Mikko; Wymeersch, Henk; Svensson, Lennart (Ieee Transactions On Signal Processing, 2025)