@article{publication-14063,
	author={Forster, Christian and Carlone, Luca and Dellaert, Frank and Scaramuzza, Davide},
	doi={10.1109/tro.2016.2597321},
	issn={1552-3098},
	journal={IEEE Transactions on Robotics},
	pages={1-20},
	publisher={Institute of Electrical and Electronics Engineers},
	title={On-Manifold Preintegration for Real-Time Visual-Inertial Odometry},
	year=2016,
}