An inertial assisted monocular front-end model based on weighted pre-integration and fast initialization
ZENG Pan, PAN Shuguo, HUANG Lixiao, WANG Shuai, ZHAO Tao
测绘通报 . 2019, (8): 8 -13,19 .  DOI: 10.13474/j.cnki.11-2246.2019.0242