Junyin Qiu

2 accepted papers

2026

Direct Sparse Initialization for Stereo Visual-Inertial Odometry

RA-L 2026

Existingstereo visual-inertial initialization methods, whether tightly or loosely coupled, rely critically on intermediate variables like feature correspondences and camera poses rather than original image data. Computing these variables through feature tracking and Structure-from-Motion (SfM) inher

Cited by 0 Source ↗Scholar ↗

2022

Integrating Point and Line Features for Visual-Inertial Initialization

Hong Liu, Junyin Qiu, Weibo Huang

ICRA 2022poster

Accurate and robust initialization is crucial in visual-inertial system, which significantly affects the localization accuracy. Most of the existing feature-based initialization methods rely on point features to estimate initial parameters. However, the performance of these methods often decreases i…

Cited by 6 Source ↗Scholar ↗