@article{dsviorobustandefficientstereovisual,
  title = {DS-VIO: Robust and Efficient Stereo Visual Inertial Odometry based on Dual Stage EKF},
  author = {Xiaogang Xiong and Wenqing Chen and Zhichao Liu and Qiang Shen},
  year = {2019},
  eprint = {1905.00684},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1905.00684v1},
}