@article{ageneraloptimizationbasedframeworkfor,
  title = {A General Optimization-based Framework for Local Odometry Estimation with Multiple Sensors},
  author = {Tong Qin and Jie Pan and Shaozu Cao and Shaojie Shen},
  year = {2019},
  eprint = {1901.03638},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1901.03638v1},
}