@article{publication-18685,
	author={Zhang, Zichao and Gallego, Guillermo and Scaramuzza, Davide},
	doi={10.1109/lra.2018.2833152},
	issn={2377-3766},
	journal={IEEE Robotics and Automation Letters},
	number=3,
	pages={2710-2717},
	publisher={Institute of Electrical and Electronics Engineers},
	title={On the Comparison of Gauge Freedom Handling in Optimization-Based Visual-Inertial State Estimation},
	volume=3,
	year=2019,
}