@article{animprovedmultistateconstraintkalman,
  title = {An Improved Multi-State Constraint Kalman Filter for Visual-Inertial Odometry},
  author = {M. R. Abdollahi and Seid H. Pourtakdoust and M. H. Yoosefian Nooshabadi and H. N. Pishkenari},
  year = {2022},
  eprint = {2210.08117},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2210.08117v2},
}