@article{hybviopushingthelimitsofrealtimevisual,
  title = {HybVIO: Pushing the Limits of Real-time Visual-inertial Odometry},
  author = {Otto Seiskari and Pekka Rantalankila and Juho Kannala and Jerry Ylilammi and Esa Rahtu and Arno Solin},
  year = {2021},
  eprint = {2106.11857},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2106.11857v3},
}