# Visual-Inertial SLAM Initialization: A General Linear Formulation and a Gravity-Observing Non-Linear Optimization

> Research article (2018 IEEE International Symposium on Mixed and Augmented Reality (ISMAR), 2018) · cited 15× · AI/ML

**Wikidata**: [openalex:W2910764107](https://www.wikidata.org/wiki/openalex:W2910764107)  
**Source**: https://4ort.xyz/entity/visual-inertial-slam-initialization-a-general-linear-formulation-and-a-gravity-observing-non-linear-optimization