Abstract Visual-Inertial Odometry (VIO) has been developed from Simultaneous Localization and Mapping (SLAM) as a low-cost and versatile sensor fusion approach and attracted increasing attention in ground vehicle positioning. However. VIOs usually have the degraded performance in challenging environments and degenerated motion scenarios. In this paper. https://www.roneverhart.com/Hohner-C-7-NS-Harmonica-Carrying-Case-p36684/