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Robust Tightly-Coupled Visual-Inertial Odometry with Pre-bu..:

Bao, Hujun ; Xie, Weijian ; Qian, Quanhao...
IEEE Transactions on Visualization and Computer Graphics.  28 (2022)  5 - p. 2212-2222 , 2022
Link: https://doi.org/10.1109/tvcg.2022.3150495