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rsasaki0109
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Loosely-coupled VIO pipeline (Stage 0b + 0c): IMU preintegration BA residual, accel-bias estimation, rotation coupling, VI initialization
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#52:
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Loosely-coupled VIO pipeline (Stage 0b + 0c): IMU preintegration BA residual, accel-bias estimation, rotation coupling, VI initialization
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Loosely-coupled VIO pipeline (Stage 0b + 0c): IMU preintegration BA residual, accel-bias estimation, rotation coupling, VI initialization
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Tesla-style simplification + post-reloc KF cooldown for room_mono
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