Efficient Feature-Free Initialization for Monocular Visual-Inertial Systems Using a Feed-Forward 3D Model

In three linesFeature-free initialization method for monocular visual-inertial navigation systems (VINS) using feed-forward 3D models. Reduces initialization time to <1.2s (vs 3-4s), achieves >90% success rate, eliminates visual feature tracking. Code and dataset released.

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