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cs.RO2026
An Efficient Closed-Form Solution to Full Visual-Inertial State Initialization
Samuel Cerezo, Seong Hun Lee, Javier Civera
In this letter, we present a closed-form initialization method that recovers the full visual-inertial state without nonlinear optimization. Unlike previous approaches that rely on…
cs.RO2024
What's Wrong with the Absolute Trajectory Error?
Seong Hun Lee, Javier Civera
One of the limitations of the commonly used Absolute Trajectory Error (ATE) is that it is highly sensitive to outliers. As a result, in the presence of just a few outliers, it ofte…