非常感谢VINS-FUSION 与 DVINS 。 这是一个基于SP+LG前端的VINS系统，精度上并没有特别显著的提升，但是抗光照性能相较于传统的方法还是好一些
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luobodan/Mix-vio
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a vio mix SPLG and optical-flow
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