Fast Monocular Visual-Inertial Initialization with an Improved Iterative Strategy

Figure 10

The trajectories of VI-ORBSLAM, VINS-MONO, Ours, and ORB-SLAM3 on V2_01_easy sequence. Dotted line: ground truth. Blue line: VI-ORBSLAM. Green line: VINS-MONO. Red line: Ours. Violet line: ORB-SLAM3.