@article{beyondvisualfieldofviewperceiving3d,
  title = {Beyond Visual Field of View: Perceiving 3D Environment with Echoes and Vision},
  author = {Lingyu Zhu and Esa Rahtu and Hang Zhao},
  year = {2022},
  eprint = {2207.01136},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2207.01136v2},
}