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This study proposes a novel feature point initialization method in order to improve the accuracy of feature point positions by fusing a vision sensor and a lidar. The initialization is a process that determines three dimensional positions of feature points through two dimensional image data, which has a direct influence on performance of a 6-DoF bearing-only SLAM. Prior to the initialization, an extrinsic calibration method which estimates rotational and translational relationships between adoi:10.5370/jeet.2016.11.6.1846 fatcat:62xhmfkmfjdjvgbp5thsljlrya