Non-intrusive inspection systerms based on X-ray radiography techriques are rou tinely used at transport hubs to ensure the conforrmity of catgo content with the supplied shipping manifest. As trade volurmes increase and regulatiors become more strin
Abstract— Visual-inertial SLAM (VI-SLAM) requires a good
initial estimation of the initial velocity, orientation with respect
to gravity and gyroscope and accelerometer biases. In this paper
we build on the initialization method proposed by Martinell
