@inproceedings{qin2018online,
  title={Online Temporal Calibration for Monocular Visual-Inertial Systems},
  author={Qin, Tong and Shen, Shaojie},
  booktitle={2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={3662--3669},
  year={2018},
  organization={IEEE}
}



@article{qin2017vins,
  title={VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator},
  author={Qin, Tong and Li, Peiliang and Shen, Shaojie},
  journal={IEEE Transactions on Robotics}, 
  year={2018},
  volume={34}, 
  number={4}, 
  pages={1004-1020}
}