AUTORALLY

http://autorally.github.io/

Georgia tech

https://collab.cc.gatech.edu/borg/home?destination=home

GTSAM

Visual-Inertial-Aided Navigation for High-Dynamic Motion in Built Environments Without Initial Conditions

https://bitbucket.org/gtborg/gtsam/src/8b0c2ecaf4060965eca355bdd907d239b5124de6/GTSAM-Concepts.md?fileviewer=file-view-default

https://www.youtube.com/watch?v=CsJkci5lfco&feature=youtu.be