@article{vilivovirtuallidarvisualodometryforan,
  title = {ViLiVO: Virtual LiDAR-Visual Odometry for an Autonomous Vehicle with a Multi-Camera System},
  author = {Zhenzhen Xiang and Jingrui Yu and Jie Li and Jianbo Su},
  year = {2019},
  eprint = {1909.12947},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/1909.12947v1},
}