PL-VINS: Real-Time Monocular Visual-Inertial SLAM with Point and Line Features. (arXiv:2009.07462v3 [cs.RO] UPDATED)

Leveraging line features to improve localization accuracy of point-based
visual-inertial SLAM (VINS) is gaining interest as they provide additional
constraints on scene structure. However, real-time performance when
incorporating line features in VINS has not been addressed. This paper presents
PL-VINS, a real-time optimization-based monocular VINS method with point and
line features, developed based on the state-of-the-art point-based VINS-Mono
\cite{vins}. We observe that current works use the LSD \cite{lsd} algorithm to
extract line features; however, LSD is designed for scene shape …

arxiv features line pl real-time slam time