Integrating Point and Line Features for Visual-Inertial Initialization
Hong Liu,Junyin Qiu,Weibo Huang,Hong Liu,Junyin Qiu,Weibo Huang
Accurate and robust initialization is crucial in visual-inertial system, which significantly affects the localization accuracy. Most of the existing feature-based initialization methods rely on point features to estimate initial parameters. However, the performance of these methods often decreases in real scene, as point features are unstable and may be discontinuously observed especially in low t...
