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Reference

[0] VINS on Wheels
[1] Visual-Inertial Odometry Tightly Coupled with Wheel Encoder Adopting Robust Initialization and Online Extrinsic Calibration
[0] https://github.com/Wallong/VINS-GPS-Wheel
[1] https://github.com/TouchDeeper/VIW-Fusion
[] https://blog.csdn.net/ewtewtewrt/article/details/117249295
[] https://zhuanlan.zhihu.com/p/613919038
[] https://renwuli.github.io/blog/2022/Wheel-Preintegration/
[] https://renwuli.github.io/blog/2022/VINS-Wheel/