Preprint
Sep 2026
Robust Structureless Monocular Visual Inertial Initialization Exploiting Line Features and Vanishing Points
SLIM-init is proposed, a structureless monocular VIO initializer that directly exploits geometric constraints from tracked 2D line features without explicit 3D landmark reconstruction to provide robust rotation-only constraints under degenerate scenarios such as low-parallax or translation-dominant motions.
Jun-Wan Choi, Woongrae Jo, Dong-Uk Seo et al.
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