ch1：概述与课程介绍
ch2：IMU传感器
ch3：基于优化的IMU与视觉信息融合
ch4：基于滑动窗口算法的VIO系统：可观性和一致性
ch5：后端优化实践：逐行手写求解器
ch6：视觉前端
ch7：VINS系统构建
ch8：大作业
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