@inproceedings{pfrommer2017penncosyvio,
title={Penncosyvio: A challenging visual inertial odometry benchmark},
author={Pfrommer, Bernd and Sanket, Nitin and Daniilidis, Kostas and Cleveland, Jonas},
booktitle={2017 IEEE International Conference on Robotics and Automation (ICRA)},
pages={3847--3854},
year={2017},
organization={IEEE}}