# Visual-Inertial Navigation: A Concise Review

arXiv: https://arxiv.org/abs/1906.02650 · HTML: https://mlsanity.com/paper/1906.02650/

## Key facts

- Cited by 28 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 6 Jun 2019.

## Built on by (most cited first, 28 of 28)

- [Towards Scale-Aware, Robust, and Generalizable Unsupervised Monocular Depth Estimation by Integrating IMU Motion Dynamics](https://mlsanity.com/paper/2207.04680/) (2022)
- [Advances in Inference and Representation for Simultaneous Localization and Mapping](https://mlsanity.com/paper/2103.05041/) (2021)
- [Avoiding Degeneracy for Monocular Visual SLAM with Point and Line Features](https://mlsanity.com/paper/2103.01501/) (2021)
- [SchurVINS: Schur Complement-Based Lightweight Visual Inertial Navigation System](https://mlsanity.com/paper/2312.01616/) (2023)
- [Learned Monocular Depth Priors in Visual-Inertial Initialization](https://mlsanity.com/paper/2204.09171/) (2022)
- [Data-Efficient Collaborative Decentralized Thermal-Inertial Odometry](https://mlsanity.com/paper/2209.06588/) (2022)
- [BEVLoc: Cross-View Localization and Matching via Birds-Eye-View Synthesis](https://mlsanity.com/paper/2410.06410/) (2024)
- [RP-VIO: Robust Plane-based Visual-Inertial Odometry for Dynamic Environments](https://mlsanity.com/paper/2103.10400/) (2021)
- [Learning IMU Bias with Diffusion Model](https://mlsanity.com/paper/2505.11763/) (2025)
- [LRSLAM: Low-rank Representation of Signed Distance Fields in Dense Visual SLAM System](https://mlsanity.com/paper/2506.10567/) (2025)
- [Distributed Visual-Inertial Cooperative Localization](https://mlsanity.com/paper/2103.12770/) (2021)
- [Tightly-coupled Visual-DVL-Inertial Odometry for Robot-based Ice-water Boundary Exploration](https://mlsanity.com/paper/2303.17005/) (2023)
- [Dynamic Sensor Matching based on Geomagnetic Inertial Navigation](https://mlsanity.com/paper/2208.06233/) (2022)
- [Multi-Visual-Inertial System: Analysis, Calibration and Estimation](https://mlsanity.com/paper/2308.05303/) (2023)
- [The Use of Multi-Scale Fiducial Markers To Aid Takeoff and Landing Navigation by Rotorcraft](https://mlsanity.com/paper/2309.08769/) (2023)
- [Accurate Visual-Inertial SLAM by Feature Re-identification](https://mlsanity.com/paper/2102.13438/) (2021)
- [An Improved Multi-State Constraint Kalman Filter for Visual-Inertial Odometry](https://mlsanity.com/paper/2210.08117/) (2022)
- [The Invisible Map: Visual-Inertial SLAM with Fiducial Markers for Smartphone-based Indoor Navigation](https://mlsanity.com/paper/2310.10862/) (2023)
- [4D-based Robot Navigation Using Relativistic Image Processing](https://mlsanity.com/paper/2410.22087/) (2024)
- [Self-Supervised Monocular Visual Drone Model Identification through Improved Occlusion Handling](https://mlsanity.com/paper/2504.21695/) (2025)
- [A Novel ViDAR Device With Visual Inertial Encoder Odometry and Reinforcement Learning-Based Active SLAM Method](https://mlsanity.com/paper/2506.13100/) (2025)
- [CAN-Trace Attack: Exploit CAN Messages to Uncover Driving Trajectories](https://mlsanity.com/paper/2507.09624/) (2025)
- [VIMD: Monocular Visual-Inertial Motion and Depth Estimation](https://mlsanity.com/paper/2509.19713/) (2025)
- [ICD-Net: Inertial Covariance Displacement Network for Drone Visual-Inertial SLAM](https://mlsanity.com/paper/2512.00037/) (2025)
- [DefVINS: Visual-Inertial Odometry for Deformable Scenes](https://mlsanity.com/paper/2601.00702/) (2026)
- [SCAR: Satellite Imagery-Based Calibration for Aerial Recordings](https://mlsanity.com/paper/2602.16349/) (2026)
- [Minimalist Visual Inertial Odometry](https://mlsanity.com/paper/2605.19990/) (2026)
- [MARIO: Motion-Augmented Real-Time Multi-Sensor Inertial Odometry](https://mlsanity.com/paper/2606.02996/) (2026)

## 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.