@inproceedings{anefficientschmidtekffor3dvisual,
  title = {An Efficient Schmidt-EKF for 3D Visual-Inertial SLAM},
  author = {Patrick Geneva and James Maley and Guoquan Huang},
  year = {2019},
  booktitle = {CVPR 2019 6},
  eprint = {1903.08636},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1903.08636v1},
}