https://blog.csdn.net/HUST_lc/article/details/102653298
论文翻译:Keyframe-Based Visual-Inertial Odometry Using Nonlinear Optimization: https://blog.csdn.net/sizhai5337/article/details/81028338
基于关键帧思想的VIO首先是ETH在2015年IJRR上的OKVIS这篇文章提出,《Keyframe-based visual-inertial odometry using nonlinear optimization》,代码也开源了。https://github.com/ethz-asl/okvis