EDI: ESKF-based Disjoint Initialization for Visual-Inertial SLAM Systems
Weihan Wang,Jiani Li,Yuhang Ming,Philippos Mordohai,Weihan Wang,Jiani Li,Yuhang Ming,Philippos Mordohai
Visual-inertial initialization can be classified into joint and disjoint approaches. Joint approaches tackle both the visual and the inertial parameters together by aligning observations from feature-bearing points based on IMU integration then use a closed-form solution with visual and acceleration observations to find initial velocity and gravity. In contrast, disjoint approaches independently s...
