mlsanityData to 7 Oct 2026

Visual-Inertial Navigation: A Concise Review

arXiv 1906.02650 ↗First posted 6 Jun 2019cs.ROcited by 28

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Abstract (arXiv)

As inertial and visual sensors are becoming ubiquitous, visual-inertial navigation systems (VINS) have prevailed in a wide range of applications from mobile augmented reality to aerial navigation to autonomous driving, in part because of the complementary sensing capabilities and the decreasing costs and size of the sensors. In this paper, we survey thoroughly the research efforts taken in this field and strive to provide a concise but complete review of the related work -- which is unfortunately missing in the literature while being greatly demanded by researchers and engineers -- in the hope to accelerate the VINS research and beyond in our society as a whole.

Key facts. Cited by 28 papers in the map (data through 7 Oct 2026). First posted on arXiv 6 Jun 2019.

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Citing papers per year: 2021: 5; 2022: 5; 2023: 5; 2024: 2; 2025: 7; 2026: 4.

28 papers.

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  1. 2022Towards Scale-Aware, Robust, and Generalizable Unsupervised Monocular Depth Estimation by Integrating IMU Motion Dynamicscited by 20
  2. 2021Advances in Inference and Representation for Simultaneous Localization and Mappingcited by 16
  3. 2021Avoiding Degeneracy for Monocular Visual SLAM with Point and Line Featurescited by 13
  4. 2023SchurVINS: Schur Complement-Based Lightweight Visual Inertial Navigation Systemcited by 5
  5. 2022Learned Monocular Depth Priors in Visual-Inertial Initializationcited by 4
  6. 2022Data-Efficient Collaborative Decentralized Thermal-Inertial Odometrycited by 4
  7. 2024BEVLoc: Cross-View Localization and Matching via Birds-Eye-View Synthesiscited by 4
  8. 2021RP-VIO: Robust Plane-based Visual-Inertial Odometry for Dynamic Environmentscited by 3
  9. 2025Learning IMU Bias with Diffusion Modelcited by 3
  10. 2025LRSLAM: Low-rank Representation of Signed Distance Fields in Dense Visual SLAM Systemcited by 3
  11. 2021Distributed Visual-Inertial Cooperative Localizationcited by 2
  12. 2023Tightly-coupled Visual-DVL-Inertial Odometry for Robot-based Ice-water Boundary Explorationcited by 2
16 more
  1. 2022Dynamic Sensor Matching based on Geomagnetic Inertial Navigationcited by 1
  2. 2023Multi-Visual-Inertial System: Analysis, Calibration and Estimationcited by 1
  3. 2023The Use of Multi-Scale Fiducial Markers To Aid Takeoff and Landing Navigation by Rotorcraftcited by 1
  4. 2021Accurate Visual-Inertial SLAM by Feature Re-identificationcited by 0
  5. 2022An Improved Multi-State Constraint Kalman Filter for Visual-Inertial Odometrycited by 0
  6. 2023The Invisible Map: Visual-Inertial SLAM with Fiducial Markers for Smartphone-based Indoor Navigationcited by 0
  7. 20244D-based Robot Navigation Using Relativistic Image Processingcited by 0
  8. 2025Self-Supervised Monocular Visual Drone Model Identification through Improved Occlusion Handlingcited by 0
  9. 2025A Novel ViDAR Device With Visual Inertial Encoder Odometry and Reinforcement Learning-Based Active SLAM Methodcited by 0
  10. 2025CAN-Trace Attack: Exploit CAN Messages to Uncover Driving Trajectoriescited by 0
  11. 2025VIMD: Monocular Visual-Inertial Motion and Depth Estimationcited by 0
  12. 2025ICD-Net: Inertial Covariance Displacement Network for Drone Visual-Inertial SLAMcited by 0
  13. 2026DefVINS: Visual-Inertial Odometry for Deformable Scenescited by 0
  14. 2026SCAR: Satellite Imagery-Based Calibration for Aerial Recordingscited by 0
  15. 2026Minimalist Visual Inertial Odometrycited by 0
  16. 2026MARIO: Motion-Augmented Real-Time Multi-Sensor Inertial Odometrycited by 0