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Handling Gauge Freedom in VINS

Z. Zhang, G. Gallego, and D. Scaramuzza, "On the Comparison of Gauge Freedom Handling in Optimization-Based Visual-Inertial State Estimation," IEEE Robot. Autom. Lett., vol. 3, no. 3, pp. 2710–2717, Jul. 2018, doi: 10.1109/LRA.2018.2833152.

这篇论文主要讨论了视觉惯性系统中规范自由度（Gauge Freedom）的处理方法，并对比了不同策略的效果。

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Discrete Math Quick Notes

This is the review notes for key concepts and theorems in discrete mathematics, particularly focusing on modular arithmetic, divisibility, and the properties of integers.