A Point-Line VIO System With Novel Feature Hybrids and With Novel Line Predicting-Matching

Weak texture and motion blur are always challenging problems for visual-inertial odometry (VIO) systems. To improve accuracy of VIO systems in the challenging scenes, we propose a point-line-based VIO system with novel feature hybrids and with novel predicting-matching for long line track. Point-line features with shorter tracks are categorized into “MSCKF” features and with longer tracks into “SLAM” features. Especially, “SLAM” lines are added into the state vector to improve accuracy of the proposed system. Besides, to ensure the reliability and stability of detection and tracking of line features, we also propose a new “Predicting-Matching” line segment tracking method to increase the track lengths of line segments. Experimental results show that the proposed method outperforms the state-of-the-art methods of VINS-Mono [1], PL-VINS [2] and OpenVINS [3]) on both a public dataset and a collected dataset in terms of accuracy. The collected dataset is full of extremely weak textures and motion blurs. On this dataset, the proposed method also obtains better accuracy than ORB-SLAM3 [4].