A fast initialization method of Visual-Inertial Odometry based on monocular camera

摘要

In recent years, due to the low cost and high precision characteristic of Visual-Inertial Odometry (VIO), VIO has become a hot research issue. However, the common visual and inertial joint positioning takes a lot of time for joint initialization, so improving the speed of the joint initialization is of great significance in real-time operate. This paper will propose a rapid method of joint initialization parameters. Compared with the traditional initialization method, the initialization method mentioned in this paper has a faster initialization speed with little effect on positioning accuracy. The scheme in the paper uses EuRoc dataset under monocular visual and IMU tight coupling system. The experimental results show that the initialization time can be controlled within 10 seconds using the method proposed in this paper.