@article{theinvisiblemapvisualinertialslamwith,
  title = {The Invisible Map: Visual-Inertial SLAM with Fiducial Markers for Smartphone-based Indoor Navigation},
  author = {Paul Ruvolo and Ayush Chakraborty and Rucha Dave and Richard Li and Duncan Mazza and Xierui Shen and Raiyan Siddique and Krishna Suresh},
  year = {2023},
  eprint = {2310.10862},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2310.10862v1},
}