Fast Monocular Visual-Inertial Initialization with an Improved Iterative Strategy

Table 1

The quantified velocity drift of whole path on V2_01 sequence. All the results are the median over 10 tests. Abbreviations: med: median; dirt: direction.

	VI-ORBSLAM med drift (m/s)	Ours med drift (m/s)	Improvement (%)
	0.0293	0.0195	33.45
	0.0165	0.0110	33.33
	0.0501	0.0385	23.15