Research Article
Fast Monocular Visual-Inertial Initialization with an Improved Iterative Strategy
Figure 5
The time-varied characteristic curves of the initial estimations: (a) accelerometer bias characteristic curves; (b) gyroscope bias characteristic curves; (c) gravity characteristic curves; (d) visual scale characteristic curves. Abbreviations: {-gn, -gn, -gn} and {-our, -our, -our} represent the estimation of G-N and our algorithms with , , and directions, respectively.
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