Zhongyan Sun Jing Yuan 0004 Yang Wang Guanming Qu Hongzhi Yu Thermal Image Based Direct Method Visual-Inertial Odometry for Robot Navigation. 74-79 2023 RICAI https://doi.org/10.1109/RICAI60863.2023.10488925 conf/ricai/2023 db/conf/ricai/ricai2023.html#SunYWQY23