Citation:
F. Zheng, G. Tsai, Z. Zhang, S. Liu, C. - C. Chu, and H. Hu, “Trifo-VIO: Robust and Efficient Stereo Visual Inertial Odometry using Points and Lines,” in 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, pp. 3686–3693.