# Keyframe-Based RGB-D Visual-Inertial Odometry and Camera Extrinsic Calibration Using Extended Kalman Filter

> Research article (IEEE Sensors Journal, 2020) · cited 20× · AI/ML

**Wikidata**: [openalex:W3006355472](https://www.wikidata.org/wiki/openalex:W3006355472)  
**Source**: https://4ort.xyz/entity/keyframe-based-rgb-d-visual-inertial-odometry-and-camera-extrinsic-calibration-using-extended-kalman-filter