A feature-free monocular VINS initialization method that uses feed-forward 3D model point cloud predictions achieves over 90% success rate with under 1.2 seconds of data and performs robustly in degraded environments.
sqrtvins: Ro- bust and Ultrafast Square-Root Filter-Based 3D Motion Tracking,
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Efficient Feature-Free Initialization for Monocular Visual-Inertial Systems Using a Feed-Forward 3D Model
A feature-free monocular VINS initialization method that uses feed-forward 3D model point cloud predictions achieves over 90% success rate with under 1.2 seconds of data and performs robustly in degraded environments.