High-precision indoor positioning based on robust LM visual inertial odometer and pseudosatellite
YANG Gaochao, WANG Qing, YU Baoguo, LIU Pengfei, LI Shuang
Acta Geodaetica et Cartographica Sinica . 2022, (1): 18 -30 .  DOI: 10.11947/j.AGCS.2022.20200251