human: Given a node-centered hypergraph: <hypergraph>, where nodes represent papers and hyperedges represent sets of papers co-cited by a source paper.

Details of the hypergraph:
Center node: "closed form preintegration methods for graph based visual inertial navigation"
  Abstract: In this paper, we propose a new analytical preintegration theory for graph-based sensor fusion with an inertial measurement unit (IMU) and a camera (or other aiding sensors). Rather than using disc...

Connected through hyperedge HE-1 (induced by source paper "visual inertial navigation a concise review"):
  with members:
    - "observability aware self calibration of visual and inertial sensors for ego motion estimation"
    - "continuous time visual inertial odometry for event cameras"
    - "visual inertial object detection and mapping"
    - "maplab an open framework for research in visual inertial mapping and localization"
    - "stereo vision based semantic 3d object and ego motion tracking for autonomous driving"
    - "closed form solution to cooperative visual inertial structure from motion"
    - "robocentric visual inertial odometry"
    - "relocalization global optimization and map merging for monocular visual inertial slam"

Connected through hyperedge HE-2 (induced by source paper "adaptive continuous visual odometry from rgb d images"):
  with members:
    - "hybrid contact preintegration for visual inertial contact state estimation using factor graphs"
    - "contact aided invariant extended kalman filtering for legged robot state estimation"
    - "ultimate slam combining events images and imu for robust visual slam in hdr and high speed scenarios"
    - "stereo dso large scale direct sparse visual odometry with stereo cameras"
    - "on manifold preintegration for real time visual inertial odometry"
    - "direct sparse odometry"

Connected through hyperedge HE-3 (induced by source paper "a mathematical framework for imu error propagation with applications to preintegration"):
  with members:
    - "contact aided invariant extended kalman filtering for legged robot state estimation"
    - "an invariant linear quadratic gaussian controller for a simplified car"
    - "the invariant extended kalman filter as a stable observer"
    - "intrinsic filtering on lie groups with applications to attitude estimation"
    - "integrating generic sensor fusion algorithms with sound state representations through encapsulation of manifolds"

Connected through hyperedge HE-4 (induced by source paper "continuous direct sparse visual odometry from rgb d images"):
  with members:
    - "hybrid contact preintegration for visual inertial contact state estimation using factor graphs"
    - "contact aided invariant extended kalman filtering for legged robot state estimation"
    - "stereo dso large scale direct sparse visual odometry with stereo cameras"
    - "on manifold preintegration for real time visual inertial odometry"
    - "direct sparse odometry"

Connected through hyperedge HE-5 (induced by source paper "contact aided invariant extended kalman filtering for legged robot state estimation"):
  with members:
    - "rins w robust inertial navigation system on wheels"
    - "hybrid contact preintegration for visual inertial contact state estimation using factor graphs"
    - "robocentric visual inertial odometry"
    - "feedback control of a cassie bipedal robot walking standing and riding a segway"
    - "vins mono a robust and versatile monocular visual inertial state estimator"
    - "invariant smoothing on lie groups"
    - "on manifold preintegration for real time visual inertial odometry"
    - "an ekf slam algorithm with consistency properties"

Connected through hyperedge HE-6 (induced by source paper "continuous preintegration theory for graph based visual inertial navigation"):
  with members:
    - "vins mono a robust and versatile monocular visual inertial state estimator"
    - "stereo dso large scale direct sparse visual odometry with stereo cameras"
    - "orb slam2 an open source slam system for monocular stereo and rgb d cameras"
    - "on manifold preintegration for real time visual inertial odometry"
    - "direct sparse odometry"
    - "past present and future of simultaneous localization and mapping toward the robust perception age"

Question: Please tell me which class the center node belongs to. The 40 classes are: cs.NA(Numerical Analysis), cs.MM(Multimedia), cs.LO(Logic in Computer Science), cs.CY(Computers and Society), cs.CR(Cryptography and Security), cs.DC(Distributed, Parallel, and Cluster Computing), cs.HC(Human-Computer Interaction), cs.CE(Computational Engineering, Finance, and Science), cs.NI(Networking and Internet Architecture), cs.CC(Computational Complexity), cs.AI(Artificial Intelligence), cs.MA(Multiagent Systems), cs.GL(General Literature), cs.NE(Neural and Evolutionary Computing), cs.SC(Symbolic Computation), cs.AR(Hardware Architecture), cs.CV(Computer Vision and Pattern Recognition), cs.GR(Graphics), cs.ET(Emerging Technologies), cs.SY(Systems and Control), cs.CG(Computational Geometry), cs.OH(Other Computer Science), cs.PL(Programming Languages), cs.SE(Software Engineering), cs.LG(Machine Learning), cs.SD(Sound), cs.SI(Social and Information Networks), cs.RO(Robotics), cs.IT(Information Theory), cs.PF(Performance), cs.CL(Computation and Language), cs.IR(Information Retrieval), cs.MS(Mathematical Software), cs.FL(Formal Languages and Automata Theory), cs.DS(Data Structures and Algorithms), cs.OS(Operating Systems), cs.GT(Computer Science and Game Theory), cs.DB(Databases), cs.DL(Digital Libraries), cs.DM(Discrete Mathematics). Directly output the class name.

gpt: cs.RO(Robotics)