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Implementation and observability analysis of visual-inertial-wheel odometry with robust initialization and online extrinsic calibration

Jinxu Liu, Wei Gao 0014, Chuyun Xie, Zhanyi Hu. Implementation and observability analysis of visual-inertial-wheel odometry with robust initialization and online extrinsic calibration. Robotics and Autonomous Systems, 176:104686, 2024. [doi]

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