@article{usenko19_vinfr, title = {Visual-Inertial Mapping with Non-Linear Factor Recovery}, author = {Usenko, Vladyslav and Demmel, Nikolaus and Schubert, David and St{\"u}ckler, J{\"o}rg and Cremers, Daniel}, journal = {IEEE Robotics and Automation Letters (RA-L)}, volume = {5}, year = {2020}, note = {presented at IEEE International Conference on Robotics and Automation (ICRA) 2020, preprint arXiv:1904.06504}, doi = {}, url = {https://ieeexplore.ieee.org/document/8938825} }