@inproceedings{Kasyanov2017_VISLAM, title = {Keyframe-Based Visual-Inertial Online {SLAM} with Relocalization}, author = {Kasyanov, A. and Engelmann, F. and Stueckler, J. and Leibe, B.}, booktitle = {{IEEE/RSJ} Int. Conference on Intelligent Robots and Systems, {IROS}}, year = {2017}, doi = {} }