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R2DIO: A Robust and Real-Time Depth-Inertial Odometry Lever..:

Xu, Jie ; Li, Ruifeng ; Huang, Song...
IEEE Transactions on Instrumentation and Measurement.  72 (2023)  - p. 1-11 , 2023
Link: https://doi.org/10.1109/tim.2023.3320753