2021
Revisiting Visual-Inertial Structure-From-Motion for Odometry and SLAM Initialization
RA-L 2021
In this letter, 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. Instead, we b