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

Accurate initialization is essential for reliable visual-inertial odometry (VIO), but it is often ill-conditioned under degenerate motions. Existing methods typically require restrictive excitation motions to ensure sufficient observability or rely on computationally expensive 3D structure reconstruction, limiting efficient and practical deployment. To address these limitations, we propose SLIM-init, a structureless monocular VIO initializer that directly exploits geometric constraints from tracked 2D line features without explicit 3D landmark reconstruction. Specifically, SLIM-init leverages line-derived vanishing points (VPs) as translation-invariant orientation cues to provide robust r...

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