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arXiv · 2511.18910

An Efficient Closed-Form Solution to Full Visual-Inertial State Initialization

Samuel Cerezo·Seong Hun Lee·Javier Civera
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Abstract

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 iterative solvers, our formulation yields analytical, easy-to-implement, and numerically stable solutions for reliable start-up. Our method builds on small-rotation and constant-velocity approximations, which keep the formulation compact while preserving the essential coupling between motion and inertial measurements. We further propose an observability-driven, two-stage initialization scheme that balances accuracy with initialization latency. Extensive experiments on the EuRoC dataset validate our assumptions: our method achieves 10-20% lower initialization error than optimization-based approaches, while using 4x shorter initialization windows and reducing computational cost by 5x.

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Samuel Cerezo, Seong Hun Lee, Javier Civera. 2025-11-24. An Efficient Closed-Form Solution to Full Visual-Inertial State Initialization. https://arxiv.org/abs/2511.18910

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