Visual inertial navigation algorithm based on key frame selection and loopclosure constraint in complex scenes
HAO Chunting, LIU Fei, WANG Jian, HAN Houzeng, LI Yandong
Bulletin of Surveying and Mapping . 2025, (4): 20 -26 .  DOI: 10.13474/j.cnki.11-2246.2025.0404