This paper presents a novel tightly coupled monocular visual-inertial simultaneous localization and mapping (SLAM) algorithm. which provides accurate and robust motion tracking at high frame rates on a standard CPU. In order to ensure the fast response of the system to the highly dynamic motion of robots. we perform the visual-inertial extended Kalman filter (EKF) to track the motion. https://yeswellneses.shop/product-category/sun-care/