@article{trifoviorobustandefficientstereovisual,
  title = {Trifo-VIO: Robust and Efficient Stereo Visual Inertial Odometry using Points and Lines},
  author = {Feng Zheng and Grace Tsai and Zhe Zhang and Shaoshan Liu and Chen-Chi Chu and Hongbing Hu},
  year = {2018},
  eprint = {1803.02403},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1803.02403v2},
}