Experimental Comparison of Open Source Visual-Inertial-Based State Estimation Algorithms in the Underwater Domain. - Bharat Joshi; Nikolaos I. Vitzilaios; Ioannis M. Rekleitis; Sharmin Rahman; Michail Kalaitzakis; Brennan Cain; James Johnson; Marios Xanthidis; Nare Karapetyan; Alan Hernandez; Alberto Quattrini Li (IROS, 2019)