@article{pomsckfanefficientvisualinertial,
  title = {PO-MSCKF: An Efficient Visual-Inertial Odometry by Reconstructing the Multi-State Constrained Kalman Filter with the Pose-only Theory},
  author = {Du Xueyu and Zhang Lilian and Liu Ruochen and Wang Maosong and Wu Wenqi and Mao Jun},
  year = {2024},
  eprint = {2407.01888},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2407.01888v1},
}