ES-ATRK: A Global Bundle Adjustment Initialisation Method for Event-Based Stereo Visual Inertial SLAM System Using Adaptive Threshold Robust Kernel Functions. - Zhao, Junyang; Yu, Han; Zhang, Zhili; Li, Yaru; Zhu, Huixin; Yan, Xingxu; Wang, Jiayi (Sensors (14248220), 2026)