# Observability Analysis and Keyframe-Based Filtering for Visual Inertial Odometry With Full Self-Calibration

> Research article (IEEE Transactions on Robotics, 2022) · cited 43× · AI/ML

**Wikidata**: [openalex:W4221156536](https://www.wikidata.org/wiki/openalex:W4221156536)  
**Source**: https://4ort.xyz/entity/observability-analysis-and-keyframe-based-filtering-for-visual-inertial-odometry-with-full-self-calibration