@article{manhattanslamrobustplanartrackingand,
  title = {ManhattanSLAM: Robust Planar Tracking and Mapping Leveraging Mixture of Manhattan Frames},
  author = {Raza Yunus and Yanyan Li and Federico Tombari},
  year = {2021},
  eprint = {2103.15068},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2103.15068v1},
}