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Journal of Sensors
/
2021
/
Article
/
Alg 2
/
Research Article
Fast Monocular Visual-Inertial Initialization with an Improved Iterative Strategy
Algorithm 2
Computing the step
.
Inputs:
,
,
Output:
Step 1: If
,
then output:
Step 2: Else if
,
then output:
Step 3: Else output:
,
where
is calculated by equation (
17
).