@article{closedformsolutiontocooperativevisual,
  title = {Closed-form solution to cooperative visual-inertial structure from motion},
  author = {Agostino Martinelli},
  year = {2018},
  eprint = {1802.08515},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1802.08515v1},
}