@article{avisualinertiallocalizationalgorithm,
  title = {A Visual-inertial Localization Algorithm using Opportunistic Visual Beacons and Dead-Reckoning for GNSS-Denied Large-scale Applications},
  author = {Liqiang Zhang and Ye Tian and Dongyan Wei},
  year = {2024},
  eprint = {2411.19845},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2411.19845v2},
}