@inproceedings{publication-18686,
	author={Zhang, Zichao and Scaramuzza, Davide},
	booktitle={2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
	doi={10.1109/iros.2018.8593941},
	isbn={978-1-5386-8094-0},
	month={NOV},
	pages={7244-7251},
	publisher={IEEE},
	title={A Tutorial on Quantitative Trajectory Evaluation for Visual(-Inertial) Odometry},
	year=2018,
}