1. Zhang, Y., Jiang, T., Jiang, G., et al.: Visual SLAM direct pose estimation using reverse composition iteration. J. Geomat. Sci. Technol. 36(2), 166–172 (2019). (in Chinese)
2. Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: ORB-SLAM: a versatile and accurate monocular SLAM system. IEEE Trans. Robot. 31(5), 1147–1163 (2017)
3. Mur-Artal, R., Tardos, J.D.: ORB-SLAM2: Anopen-source SLAM system for monocular, stereo and RGB-D cameras. IEEE Trans. Robot. 33(5), 1255–1262 (2017)
4. Li, Y.: A study on interior positioning technology based on visual SLAM, pp. 21–31. Harbin Engineering University, Harbin (2019). (in Chinese)
5. Li, Y., Liu, Z., Li, P., et al.: Research on ORB registration algorithm in visual SLAM. J. Chang Chun Univ. Sci. Technol. (Nat. Sci. Ed.) 42(4), 108–113 (2019). (in Chinese)