Research Article
Fast Monocular Visual-Inertial Initialization with an Improved Iterative Strategy
Figure 4
The sparse mapping results on V2_01_easy sequence: (a–c) detected point features for different frames; (d) the reconstructed point map (black: previous map points, red: current map points) with the key frame trajectory (blue).
(a) |
(b) |
(c) |
(d) |