SchurVINS:SchurComplement-BasedLightweightVisualInertialNavigationSystemSchurVINS：基于Schur补的轻量级视觉惯性导航系统YunfeiFan,TianyuZhao,GuidongWang范云飞，赵天宇，王朝栋ByteDance字节跳动{frank.01,zhaotianyu.1998,guidong.wang}@bytedance.com{