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OrcVIO: Object residual constrained Visual-Inertial Odometr:

, In: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
Shan, Mo ; Feng, Qiaojun ; Atanasov, Nikolay - p. 5104-5111 , 2020
Link: https://doi.org/10.1109/IROS45743.2020.9341660