1-Point RANSAC for extended Kalman filtering: Application to real-time structure from motion and visual odometry

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BADGR: An Autonomous Self-Supervised Learning-Based Navigation System (2020, background): “Autonomous mobile robot navigation has been extensively studied in many real-world scenarios, ranging from indoor navigation [2, 10, 11, 12] to outdoor driving [3, 13, 14, 15, 16].”
ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual–Inertial, and Multimap SLAM (2020, methodology): “Mid-term data association was signiﬁcantly improved using techniques that guarantee that the feature matches used are consistent, achieving hand-held visual SLAM [54], [55].”
A General Optimization-based Framework for Local Odometry Estimation with Multiple Sensors (2019, methodology): “The marginalization is carried out using the Schur complement [25] as follows:”
High-precision, consistent EKF-based visual-inertial odometry (2013, methodology): “Specifically, we use an information-form fixedlag smoother (FLS), based on the work of Sibley et al. (2010) for comparison.”
Visual Odometry : Part II: Matching, Robustness, Optimization, and Applications (2012, background): “, computing the egomotion of Mars Rovers [25] and that of a planetary lander in the decent phase [77]) and can also be found in consumer hardware, e.”
Keyframe-Based Visual-Inertial SLAM using Nonlinear Optimization (2013, neutral): “A similar approach, but without inertial terms and in the context of planetary landing is used in [16].”