@article{anefficientclosedformsolutiontofullvisua,
  title = {An Efficient Closed-Form Solution to Full Visual-Inertial State Initialization},
  author = {Samuel Cerezo and Seong Hun Lee and Javier Civera},
  year = {2025},
  eprint = {2511.18910},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2511.18910},
}