@inproceedings{Leutenegger:etal:RSS2013,
title = {{Keyframe-Based Visual-Inertial SLAM Using Nonlinear Optimization}},
author = {Stefan Leutenegger and Paul Furgale and Vincent Rabaud and Margarita Chli and Kurt Konolige and Roland Siegwart},
booktitle = {{Proceedings of Robotics: Science and Systems (RSS)}},
year = {2013}
}