@inproceedings{schubert2018vidataset, title = {The TUM VI Benchmark for Evaluating Visual-Inertial Odometry}, author = {Schubert, D. and Goll, T. and Demmel, N. and Usenko, V. and Stueckler, J. and Cremers, D.}, booktitle = {IEEE International Conference on Intelligent Robots and Systems (IROS)}, year = {2018}, note = {arXiv:1804.06120}, doi = {} }