A spline-based continuous-time graph optimization fuses VIO priors with sparse UWB ranges via virtual anchors to produce drift-reduced trajectories under asynchronous sampling.
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CT-VIR: Continuous-Time Visual-Inertial-Ranging Fusion for Indoor Localization with Sparse Anchors
A spline-based continuous-time graph optimization fuses VIO priors with sparse UWB ranges via virtual anchors to produce drift-reduced trajectories under asynchronous sampling.