@article{thetumvibenchmarkforevaluatingvisual,
  title = {The TUM VI Benchmark for Evaluating Visual-Inertial Odometry},
  author = {David Schubert and Thore Goll and Nikolaus Demmel and Vladyslav Usenko and Jörg Stückler and Daniel Cremers},
  year = {2018},
  eprint = {1804.06120},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/1804.06120v3},
}