@misc{liang2019tr,
  title = {{Technical Report: A Tightly Coupled VLC-Inertial Localization System by EKF}},
  author={Liang, Qing and Liu, Ming},
  year={2019},
  url = {http://ram-lab.com/papers/2019/tr_vlcinertial.pdf},
  urldate = {2019-09-10}
}