In autonomous navigation technologies. the Multi-State Constraint Kalman Filter (MSCKF) is one of the most accurate and robust tightly-coupled fusion frameworks for Visual-Inertial Navigation (VIN). However. the adoption of the MSCKF VIN system in real-time embedded applications depends heavily on an efficient implementation of its tangled pipeline. https://www.kaliboat.com/product-category/food-servicecommercial-kitchen-equipmentfood-preparation-equipmentother-commercial-food-prep-industrialrestaurant-business-5/