Revisiting visual-inertial structure from motion for odometry and SLAM initialization

10 Jun 2020Georgios EvangelidisBranislav Micusik

In this paper, an efficient closed-form solution for the state initialization in visual-inertial odometry (VIO) and simultaneous localization and mapping (SLAM) is presented. Unlike the state-of-the-art, we do not derive linear equations from triangulating pairs of point observations... (read more)

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