@misc{qin2019a,
  Author = {Tong Qin and Jie Pan and Shaozu Cao and Shaojie Shen},
  Title = {A General Optimization-based Framework for Local Odometry Estimation with Multiple Sensors},
  Year = {2019},
  Eprint = {arXiv:1901.03638}
}

@misc{qin2019b,
  Author = {Tong Qin and Shaozu Cao and Jie Pan and Shaojie Shen},
  Title = {A General Optimization-based Framework for Global Pose Estimation with Multiple Sensors},
  Year = {2019},
  Eprint = {arXiv:1901.03642}
}

@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}
}