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Furthermore, the system incorporates the inertial data in the loop closure thread. The IMU data are employed to determine the translation direction relative to world coordinates and utilized as a necessary condition for loop detection. Experimental results demonstrate that the proposed system achieves superior real-time performance and lower CPU usage compared to the majority of other SLAM systems.<\/jats:p>","DOI":"10.1007\/s40747-023-01190-5","type":"journal-article","created":{"date-parts":[[2023,8,4]],"date-time":"2023-08-04T08:02:01Z","timestamp":1691136121000},"page":"763-780","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["LVIF: a lightweight tightly coupled stereo-inertial SLAM with fisheye camera"],"prefix":"10.1007","volume":"10","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-7340-0254","authenticated-orcid":false,"given":"Hongwei","family":"Zhu","sequence":"first","affiliation":[]},{"given":"Guobao","family":"Zhang","sequence":"additional","affiliation":[]},{"given":"Zhiqi","family":"Ye","sequence":"additional","affiliation":[]},{"given":"Hongyi","family":"Zhou","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2023,8,4]]},"reference":[{"key":"1190_CR1","unstructured":"Company-Corcoles JP, Garcia-Fidalgo E, Ortiz A (2020) Lipo-lcd: combining lines and points for appearance-based loop closure detection. 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