@article{visualinertialmappingwithnonlinear,
  title = {Visual-Inertial Mapping with Non-Linear Factor Recovery},
  author = {Vladyslav Usenko and Nikolaus Demmel and David Schubert and Jörg Stückler and Daniel Cremers},
  year = {2019},
  eprint = {1904.06504},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/1904.06504v3},
}