SLIM-init: line-feature VIO initialization for degenerate motions, accepted to IROS 2026
zhenjun_zhao · x · 2026-09-22
A KAIST team proposes SLIM-init, a structureless monocular visual-inertial initialization method accepted to IROS 2026 with open-source code. It exploits 2D line features directly: vanishing points give translation-invariant rotation-only constraints under degenerate motions (low parallax, translation-dominant), combined with line epipolar and line-normal projection residuals. It outperforms SOTA initialization on public benchmarks without restrictive excitation motions or costly 3D reconstruction.
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