# Toward Consistent and Efficient Map-Based Visual-Inertial Localization: Theory Framework and Filter Design

> Research article (IEEE Transactions on Robotics, 2023) · cited 21× · AI/ML

**Wikidata**: [openalex:W4385749067](https://www.wikidata.org/wiki/openalex:W4385749067)  
**Source**: https://4ort.xyz/entity/toward-consistent-and-efficient-map-based-visual-inertial-localization-theory-framework-and-filter-design