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Structural Lines Aided Monocular Visual-Inertial-Wheel Odom..:

Pang, Chenglin ; Luo, Xingjian ; Wang, Jibo.
IEEE Transactions on Intelligent Vehicles.  9 (2024)  2 - p. 4100-4114 , 2024
Link: https://doi.org/10.1109/tiv.2023.3302032