@article{probepredictiverobustestimationforvisual,
  title = {PROBE: Predictive Robust Estimation for Visual-Inertial Navigation},
  author = {Valentin Peretroukhin and Lee Clement and Matthew Giamou and Jonathan Kelly},
  year = {2017},
  eprint = {1708.00174},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/1708.00174v3},
}