Abstract

In order to solve the problem that the point feature tracking is not robust enough to reduce the accuracy of the system in a low-texture environment, this paper proposes a visual inertial odometry system based on point-line features (PL-VINS). Firstly, the system improves the extraction and matching algorithm of line features to increase the speed and accuracy of the algorithm; then the line features are added to the front-end tracking and back-end optimization. Finally, the EuRoc public data set is used as the experimental object to prove the effectiveness of the algorithm.

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