Fast Monocular Visual-Inertial Initialization with an Improved Iterative Strategy

Figure 6

Velocity estimation in the , , and (m/s) directions of the V2_01_easy sequence. Blue: velocity of ground truth, red: velocity estimation of VI-ORBSLAM with the Gauss-Newton method used in initialization process, and green: velocity estimation of ours which uses the improved iteration method in the initialization process.