•A multi-state constraint Kalman filter for vision-aided inertial navigation
•Robust visual inertial odometry using a direct EKF-based approach
•Keyframe-Based Visual-Inertial SLAM Using Nonlinear Optimization
•On-manifold pre-integration for real-time visual-inertial odometry
•MapLab: An Open Framework for Research in Visual-inertial Mapping and Localization
•Monocular Visual-Inertial State Estimation for Mobile Augmented Reality
•VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator
•Direct Visual-Inertial Odometry with Stereo Cameras
•Direct Sparse Visual-Inertial Odometry using Dynamic Marginalization
•ICE-BA: Incremental, Consistent and Efficient Bundle Adjustment for Visual-Inertial SLAM