# Optimization-Based VINS: Consistency, Marginalization, and FEJ

> Research article (2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023) · cited 16× · AI/ML

**Wikidata**: [openalex:W4389667260](https://www.wikidata.org/wiki/openalex:W4389667260)  
**Source**: https://4ort.xyz/entity/optimization-based-vins-consistency-marginalization-and-fej