@article{rpviorobustplanebasedvisualinertial,
  title = {RP-VIO: Robust Plane-based Visual-Inertial Odometry for Dynamic Environments},
  author = {Karnik Ram and Chaitanya Kharyal and Sudarshan S. Harithas and K. Madhava Krishna},
  year = {2021},
  eprint = {2103.10400},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2103.10400v2},
}