Batch SLAM with PMBM Data Association Sampling and Graph-Based Optimization - Ge, Yu; Kaltiokallio, Ossi; Xia, Yuxuan; Garcia, Angel; Kim, Hyowon; Talvitie, Jukka; Valkama, M.; Wymeersch, Henk; Svensson, Lennart (IEEE Transactions on Signal Processing, 2025)