@article{structureinvariantrangevisualinertial,
  title = {Structure-Invariant Range-Visual-Inertial Odometry},
  author = {Ivan Alberico and Jeff Delaune and Giovanni Cioffi and Davide Scaramuzza},
  year = {2024},
  eprint = {2409.04633},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2409.04633v1},
}