Yiliang Wu Minghong Chen Yendo Hu Xue Bai Zhipeng Shi Guanglei Zhuo An Improved Tightly-Coupled Monocular Visual-Inertial Location Algorithm. 1617-1622 2021 EITCE https://doi.org/10.1145/3501409.3501694 conf/eitce/2021 db/conf/eitce/eitce2021.html#WuCHBSZ21