L. v. Stumberg and D. Cremers, “DM-VIO: Delayed Marginalization Visual-Inertial Odometry,” in IEEE Robotics and Automation Letters, vol. 7, no. 2, pp. 1408-1415, April 2022, doi: 10.1109/LRA.2021.3140129.L. v. Stumberg and D. Cremers,
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【视觉SLAM】DM-VIO: Delayed Marginalization Visual-Inertial Odometry
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