Before revision:  Reprojection error, IMU pre-integration error and raw GNSS measurement error are jointly optimized using bundle adjustment in a sliding window, and the asynchronism between images and raw GNSS measurements is considered.
After revision:  Reprojection error, IMU pre-integration error and raw GNSS measurement error are jointly minimized within a sliding window, and the asynchronism between images and raw GNSS measurements is considered.