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RAMT : Real-time Attitude and Motion Tracking for Mobile..:

Bi, Chongguang ; Xing, Guoliang
Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies.  3 (2019)  2 - p. 1-21 , 2019
Link: https://dl.acm.org/doi/10.1145/3328909