A new initialization pipeline for monocular visual-inertial SLAM reduces cold-start time to 1-2 seconds and scale errors to about 5% on the EuRoC dataset, using two bundle-adjustment steps plus novel observability and consensus tests.
Robust initialization of monocular visual-inertial estimation on aerial robots,
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Fast and Robust Initialization for Visual-Inertial SLAM
A new initialization pipeline for monocular visual-inertial SLAM reduces cold-start time to 1-2 seconds and scale errors to about 5% on the EuRoC dataset, using two bundle-adjustment steps plus novel observability and consensus tests.