{"paper":{"title":"Efficient Feature-Free Initialization for Monocular Visual-Inertial Systems Using a Feed-Forward 3D Model","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.AI","cs.CV"],"primary_cat":"cs.RO","authors_text":"Changhao Chen, Dezhen Song, Haoang Li, Huajian Zeng, Jiaqi Yang, Liang Li, Xingxing Zuo, Yuantai Zhang","submitted_at":"2026-05-17T08:35:02Z","abstract_excerpt":"Fast and reliable initialization is critical for monocular visual-inertial navigation systems (VINS), as it establishes the starting conditions for subsequent state estimation. Despite steady progress, most existing methods heavily rely on visual feature correspondences and require 3-4 seconds of sensory data for successful initialization, which limits their applicability and efficiency. With the advent of feed-forward 3D models that can directly predict point clouds from images, we revisit the visual-inertial initialization problem from a concise perspective. In this work, we propose a featur"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.17327","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2605.17327/integrity.json","findings":[],"available":true,"detectors_run":[{"name":"claim_evidence","ran_at":"2026-05-19T21:41:57.812463Z","status":"completed","version":"1.0.0","findings_count":0},{"name":"ai_meta_artifact","ran_at":"2026-05-19T21:33:23.745633Z","status":"skipped","version":"1.0.0","findings_count":0}],"snapshot_sha256":"d53b2619dcbcec442f760afeb9f6bb6a350d53ffaddbdb78673c307bb95766d9"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}