Preprint
Sep 2026
Robust Structureless Monocular Visual Inertial Initialization Exploiting Line Features and Vanishing Points
Accurate initialization is essential for reliable visual-inertial odometry (VIO), but it is often ill-conditioned under degenerate motions. Existing methods typically require restrictive excitation motions to ensure sufficient observability or rely on computationally expensive 3D structure reconstruction, limiting effi...
Jun-Wan Choi, Woongrae Jo, Dong-Uk Seo et al.
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