# FEJ-VIRO: A Consistent First-Estimate Jacobian Visual-Inertial-Ranging Odometry

> Research article (2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022) · cited 21× · AI/ML

**Wikidata**: [openalex:W4312234397](https://www.wikidata.org/wiki/openalex:W4312234397)  
**Source**: https://4ort.xyz/entity/fej-viro-a-consistent-first-estimate-jacobian-visual-inertial-ranging-odometry