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.

(a)

(b)

(c)

(d)