VersaVIS - An Open Versatile Multi-Camera Visual-Inertial Sensor Suite. - Florian Tschopp; Michael Riner; Marius Fehr; Lukas Bernreiter; Fadri Furrer; Tonci Novkovic; Andreas Pfrunder; Cesar Cadena 001; Roland Siegwart; Juan I. Nieto 001 (Sensors, 2020)