Robust Structureless Monocular Visual Inertial Initialization Exploiting Line Features and Vanishing Points

arXiv:2609.21186 · cs.RO, cs.CV · Submitted 2026-09-18 · Read on arXiv

cs.RO, cs.CV

Submitted: 2026-09-18

Updated: 2026-09-18

Comments: 8 pages, 5 figures, Accepted to IROS 2026

Code: https://github.com/cjunwan/SLIM-init

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Robustness — 21× in this paper · explained in 5 episodes
• Alignment — 20× in this paper · explained in 1 episode
• Consistency — 16× in this paper · explained in 3 episodes
• Accuracy — 14× in this paper · explained in 1 episode
• Benchmark — 5× in this paper · explained in 2 episodes
• Calibration — 5× in this paper · explained in 7 episodes
• Ablation — 4× in this paper · explained in 1 episode
• Ablation study — 3× in this paper · explained in 1 episode
• Computational overhead — 3× in this paper · explained in 2 episodes
• Structural Constraints — 2× in this paper · explained in 2 episodes
• Adaptive Weighting — 1× in this paper · explained in 1 episode
• Angular Error — 1× in this paper · explained in 1 episode
• Core — 1× in this paper · explained in 2 episodes
• Data Fusion — 1× in this paper · explained in 3 episodes
• Optical Flow — 1× in this paper · explained in 2 episodes
• Redundancy — 1× in this paper · explained in 2 episodes
• Temporal consistency — 1× in this paper · explained in 2 episodes

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