Instruct: Identify the main and secondary category of Arxiv papers based on the titles
Query: Simultaneous Localization and Mapping: Through the Lens of Nonlinear
  Optimization
37
The categories of this paper are: supr-con
18
The categories of this paper are: econ
27
The categories of this paper are: comp-gas
17
The categories of this paper are: q-fin
29
The categories of this paper are: funct-an
9
The categories of this paper are: nlin
32
The categories of this paper are: atom-ph
31
The categories of this paper are: ao-sci
35
The categories of this paper are: mtrl-th
34
The categories of this paper are: chem-ph
8
The categories of this paper are: hep-ex
23
The categories of this paper are: solv-int
5
The categories of this paper are: gr-qc
30
The categories of this paper are: q-alg
11
The categories of this paper are: hep-lat
15
The categories of this paper are: nucl-ex