Jun-Wan Choi

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...