[Bubble One Minute] Interval-based visual-inertial LiDAR SLAM using anchor poses (i-VIL SLAM)

i-VIL SLAM proposes a visual-inertial LiDAR SLAM method that assumes only bounded sensor errors, propagates errors to the map and trajectory through interval analysis, and stabilizes uncertainty accumulation using anchor poses derived from GNSS/INS data. Experiments show that in the worst case, the 99.9% confidence ellipsoid derived from marginal covariance in classical SLAM graph optimization contains less than 64% of ground truth, whereas the pose interval bounds of this method contain ground truth for more than 96% of frames.