A Rotation-Translation-Decoupled Solution for Robust and Efficient Visual-Inertial Initialization

1 code implementation • CVPR 2023 • Yijia He, Bo Xu, Zhanpeng Ouyang, Hongdong Li

We propose a novel visual-inertial odometry (VIO) initialization method, which decouples rotation and translation estimation, and achieves higher efficiency and better robustness.

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