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@InProceedings{usenko19nfr,
  author = "V. Usenko and N. Demmel and D. Schubert and J. Stueckler and D. Cremers",
  title = "Visual-Inertial Mapping with Non-Linear Factor Recovery",
  eprint = {1904.06504},
  eprinttype = {arXiv},
  eprintclass = {cs.CV},
  booktitle={arXiv:1904.06504},
  year = "2019",
  keywords = nfr
}
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