@INPROCEEDINGS{chen2021rnin-vio,
  author={Chen, Danpeng and Wang, Nan and Xu, Runsen and Xie, Weijian and Bao, Hujun and Zhang, Guofeng},
  booktitle={2021 IEEE International Symposium on Mixed and Augmented Reality (ISMAR)}, 
  title={RNIN-VIO: Robust Neural Inertial Navigation Aided Visual-Inertial Odometry in Challenging Scenes}, 
  year={2021},
  pages={275-283},
  doi={10.1109/ISMAR52148.2021.00043}}