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Journal of Sensors
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2021
/
Article
/
Alg 1
/
Research Article
Fast Monocular Visual-Inertial Initialization with an Improved Iterative Strategy
Algorithm 1
Updating region radius
.
Inputs:
,
,
Output:
Step 1: If
,
then put:
where
,
Step 2: Else if
,
then put: