visual inertial calibration

I always find a way to online calibrate IMU  and camera intrinsic  parameters and extrinsic parameter between camera and IMU.

some good works can be saw as follow:

[1] Li M, Yu H, Zheng X, et al. High-fidelity sensor modeling and self-calibration in vision-aided inertial navigation[C]// IEEE International Conference on Robotics and Automation. IEEE, 2014:409-416.

[2] Nikolic J, Burri M, Gilitschenski I, et al. Non-Parametric Extrinsic and Intrinsic Calibration of Visual-Inertial Sensor Systems[J]. IEEE Sensors Journal, 2016, 16(13):5433-5443.

[3] Rehder J, Nikolic J, Schneider T, et al. Extending kalibr: Calibrating the extrinsics of multip