AI RESEARCH
Efficient Feature-Free Initialization for Monocular Visual-Inertial Systems Using a Feed-Forward 3D Model
arXiv CS.CV
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ArXi:2605.17327v1 Announce Type: cross 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.