Flow-Based Visual-Inertial Odometry for Neuromorphic Vision Sensors Using non-Linear Optimization with Online Calibration Topics: Optical Flow and Motion Analyses; Simultaneous Localization and Mapping; Tracking and Visual Navigation In Proceedings of the 18th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 5 VISAPP: VISAPP, 963-973, 2023 , Lisbon, Portugal