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Continuous Preintegration Theory for Graph-based Visual-Inertial Navigation., , and . CoRR, (2018)MIMC-VINS: A Versatile and Resilient Multi-IMU Multi-Camera Visual-Inertial Navigation System., , and . CoRR, (2020)Optimal-State-Constraint EKF for Visual-Inertial Navigation., , and . ISRR (1), volume 2 of Springer Proceedings in Advanced Robotics, page 125-139. Springer, (2015)Degenerate Motion Analysis for Aided INS With Online Spatial and Temporal Sensor Calibration., , , and . IEEE Robotics Autom. Lett., 4 (2): 2070-2077 (2019)Visual-Inertial Target Tracking and Motion Planning for UAV-based Radiation Detection., , , and . CoRR, (2018)Visual-Inertial-Wheel Odometry with Online Calibration., , , , and . IROS, page 4559-4566. IEEE, (2020)A Linear-Complexity EKF for Visual-Inertial Navigation with Loop Closures., , and . ICRA, page 3535-3541. IEEE, (2019)Visual-Inertial Odometry with Point and Line Features., , , and . IROS, page 2447-2454. IEEE, (2019)MIMC-VINS: A Versatile and Resilient Multi-IMU Multi-Camera Visual-Inertial Navigation System., , and . IEEE Trans. Robotics, 37 (5): 1360-1380 (2021)High-Accuracy Preintegration for Visual-Inertial Navigation., , and . WAFR, volume 13 of Springer Proceedings in Advanced Robotics, page 48-63. Springer, (2016)