Fast and robust learned single-view depth-aided monocular visual-inertial initialization
Nathaniel Merrill,
Patrick Geneva,
Saimouli Katragadda
et al.
Abstract:In monocular visual-inertial navigation, it is desirable to initialize the system as quickly and robustly as possible. A state-of-the-art initialization method typically constructs a linear system to find a closed-form solution using the image features and inertial measurements and then refines the states with a nonlinear optimization. These methods generally require a few seconds of data, which however can be expedited (less than a second) by adding constraints from a robust but only up-to-scale monocular dep… Show more
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