ARMV8芯片手册，该芯片手册是从ARM官网下载的，里面详细介绍的ARM处理的7种异常模式，以及ARM架构的指令集TO THE EXTENT NOT PROHIBITED BY LAW.IN NO EVENT WILL ARM BE LIABLE FOR ANY DAMAGES
INCLUDING WITHOUT LIMITATION ANY DIRECT INDIRECT, SPECIAL, INCIDENTAL, PUNITIVE OR
CONSEQUENTIAL DAMAGES, HOWE
Abstract— Visual-inertial SLAM (VI-SLAM) requires a good
initial estimation of the initial velocity, orientation with respect
to gravity and gyroscope and accelerometer biases. In this paper
we build on the initialization method proposed by Martinell
