Diamond is a royalty-free, symmetric key block cipher encryption algorithm based on a combination of nonlinear functions. This block cipher may be implemented in hardware or software. Diamond uses a block size of 128 bits and a variable length key.
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
