proposed method against comparative methods.

The remainder of the paper is organized as follows: Section II reviews the related literatures. Section III presents the decoupling of the consensus maximization problem. Section IV introduces the solutions of the subproblems. Section V demonstrates the experimental settings and results, followed by Section VI concluding the paper.

Related Works
=============

Visual localization
-------------------

Visual localization and navigation for mobile robots has been studied extensively in the robotics and computer vision communities in the recent decade. A general visual navigation system has two components: visual odometry, which estimates the relative pose and has drift in long term [@nister2004visual][@Geiger2011IV], and visual localization, which eliminates the drift by registering the image on a global map [@furgale2010visual][@tang2018topological]. More recently, inertial sensors are employed in the system to improve the accuracy and robustness [@mourikis2007multi][@lynen2015get][@schneider2018maplab]. Specifically, the inertial sensor has globally observable pitch and roll measurements, reducing the degrees of freedom (DoF) in visual inertial localization problem to 4. In [@li2013high][@qin2018vins], the reduction is utilized when formulating the pose estimation given a set of inlier feature correspondences. However, few works have been done on outliers elimination when inertial measurements are provided.

Random sample consensus
-----------------------

For robust localization given the 