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Journal: Remote Sens., 2020
Volume: 12
Number: 2901

Article: Improved Point–Line Visual–Inertial Odometry System Using Helmert Variance Component Estimation
Authors: by Bo Xu, Yu Chen, Shoujian Zhang and Jingrong Wang
Link: https://0-www-mdpi-com.brum.beds.ac.uk/2072-4292/12/18/2901

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