A survey of bundle adjustment optimization chips in visual SLAM robots
MO Xiaorui, ZHANG Weiyi, NIAN Cheng, GUO Yushi, NIU Liting, ZHANG Baiwen, ZHANG Chun
Integrated Circuits and Embedded Systems . 2024, (11): 29 -40 .  DOI: 10.20193/j.ices2097-4191.2024.0038