@inproceedings{icebaincrementalconsistentandefficient,
  title = {ICE-BA: Incremental, Consistent and Efficient Bundle Adjustment for Visual-Inertial SLAM},
  author = {Hao-Min Liu and Mingyu Chen and Guofeng Zhang and Hujun Bao and Yingze Bao},
  year = {2018},
  booktitle = {CVPR 2018 6},
  url = {http://openaccess.thecvf.com/content_cvpr_2018/html/Liu_ICE-BA_Incremental_Consistent_CVPR_2018_paper.html},
}