Fast Monocular Visual-Inertial Initialization with an Improved Iterative Strategy

Figure 3

The platform and scenes of the EuRoC dataset: (a) the micro aerial vehicle assembled two front cameras, an IMU sensor and a motion capture system; (b) the VI sensor suite; (c) the frame of the system; (d, e) the scenes of the machine hall and man-made laboratory room, respective.

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