Comments (1)
No, there is no assumption on 0 initial velocity in the work.
Is the visual-only initializer failing or does it then not get into the VIO state (indicating the the visual-inertial initializer does not succeed)?
For driving datasets it can be useful to add a prior on the initial movement direction to help the visual initializer (https://github.com/lukasvst/dm-vio/blob/master/configs/4seasons.yaml#L6-L7). However, the current implementation of these settings assumes that the camera is mounted looking forward.
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