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Abstract: This article proposes a monocular point-line visual-inertial odometry (VIO) with line filtering and fast line matching (FLM PL-VIO), improving the localization accuracy and robustness.

In the study of RGB-D SLAM (Simultaneous Localization and Mapping), two types of primary visual features, point and line features, have been widely utilized to calculate the camera pose. As an RGB-D ...