@article{geometricstructureaidedvisualinertial,
  title = {Geometric Structure Aided Visual Inertial Localization},
  author = {Huaiyang Huang and Haoyang Ye and Jianhao Jiao and Yuxiang Sun and Ming Liu},
  year = {2020},
  eprint = {2011.04173},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2011.04173v1},
}