IMU预计分论文：On-Manifold Preintegration for Real-Time Visual-Inertial Odometry(http://arxiv.org/abs/1512.02363)
IMU初始化论文：Visual-Inertial Monocular SLAM with Map Reuse(https://arxiv.org/abs/1610.05949)
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IMU预计分论文：On-Manifold Preintegration for Real-Time Visual-Inertial Odometry(http://arxiv.org/abs/1512.02363)
IMU初始化论文：Visual-Inertial Monocular SLAM with Map Reuse(https://arxiv.org/abs/1610.05949)
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