@article{inertialbasedscaleestimationforstructure,
  title = {Inertial-Based Scale Estimation for Structure from Motion on Mobile Devices},
  author = {Janne Mustaniemi and Juho Kannala and Simo Särkkä and Jiri Matas and Janne Heikkilä},
  year = {2016},
  eprint = {1611.09498},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1611.09498v2},
}