@article{anewmethodforatlantaworldframe,
  title = {Globally optimal vertical direction estimation in Atlanta World},
  author = {Yinlong Liu and Alois Knoll and Guang Chen},
  year = {2019},
  eprint = {1904.12717},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/1904.12717v2},
}