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This paper introduces a rectilinear platform motion hypothesis and thereby converts the estimation problem into a verification problem to achieve fast monocular SLAM initialization. The proposed method is simulation tested on a fixed\u2010wing UAV. Tests show that the proposed method can produce faster initialization of visual SLAM and that the advantages are more profound on systems with sparse image features.<\/jats:p>","DOI":"10.1155\/2019\/8176489","type":"journal-article","created":{"date-parts":[[2019,2,5]],"date-time":"2019-02-05T23:33:07Z","timestamp":1549409587000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Passive Initialization Method Based on Motion Characteristics for Monocular SLAM"],"prefix":"10.1155","volume":"2019","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3206-9710","authenticated-orcid":false,"given":"Yu","family":"Yang","sequence":"first","affiliation":[]},{"given":"Jing","family":"Xiong","sequence":"additional","affiliation":[]},{"given":"Xiaoyu","family":"She","sequence":"additional","affiliation":[]},{"given":"Chang","family":"Liu","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3461-1478","authenticated-orcid":false,"given":"ChengWei","family":"Yang","sequence":"additional","affiliation":[]},{"given":"Jie","family":"Li","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2019,2,5]]},"reference":[{"key":"e_1_2_8_1_2","doi-asserted-by":"publisher","DOI":"10.1109\/MITS.2010.939925"},{"key":"e_1_2_8_2_2","doi-asserted-by":"crossref","unstructured":"TriggsB. 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