@misc{thatavarthy2022urbanfly,
  title={UrbanFly: Uncertainty-Aware Planning for Navigation Amongst High-Rises with Monocular Visual-Inertial SLAM Maps},
  author={Ayyappa Swamy Thatavarthy and Sudarshan S Harithas and Gurkirat Singh and Arun K Singh and K Madhava Krishna},
  year={2022},
  eprint={2204.00865},
  archivePrefix={arXiv},
  primaryClass={cs.RO},
  url={https://arxiv.org/abs/2204.00865}
}