A joint extrinsic orientation and gyroscope bias estimator built on normal epipolar constraints can initialize VIO from rotation-only motion before translation parallax arrives.
Instant visual odometry initialization for mobile ar,
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DOGE: An Extrinsic Orientation and Gyroscope Bias Estimation for Visual-Inertial Odometry Initialization
A joint extrinsic orientation and gyroscope bias estimator built on normal epipolar constraints can initialize VIO from rotation-only motion before translation parallax arrives.