3 accepted papers
In this letter, we present a closed-form initialization method that recovers the full visual–inertial state without nonlinear optimization. Unlike previous approaches that rely on iterative solvers, our formulation yields analytical, easy-to-implement, and numerically stable solutions for reliable s
Initializing the state of a sensorized platform can be challenging, as a limited set of measurements often provide low-informative constraints that are in addition highly nonlinear. This may lead to poor initial estimates that may converge to local minima during subsequent non-linear optimization. W
Initializing the state of a sensorized platform can be challenging, as a limited set of measurements often provide low-informative constraints that are in addition highly non-linear. This may lead to poor initial estimates that may converge to local minima during subsequent non-linear optimization. …