Modeling Varying Camera-IMU Time Offset in Optimization-Based Visual-Inertial Odometry. - Yonggen Ling; Linchao Bao; Zequn Jie; Fengming Zhu; Ziyang Li; Shanmin Tang; Yongsheng Liu; Wei Liu 005; Tong Zhang 001 (ECCV (9), 2018)