{"paper":{"title":"Leveraging Structural Information to Improve Point Line Visual-Inertial Odometry","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Bo Xu, Ming Zhou, Peng Wang, Yijia He, Yongnan Chen, Yu Chen","submitted_at":"2021-05-10T01:22:34Z","abstract_excerpt":"Leveraging line features can help to improve the localization accuracy of point-based monocular Visual-Inertial Odometry (VIO) system, as lines provide additional constraints. Moreover, in an artificial environment, some straight lines are parallel to each other. In this paper, we designed a VIO system based on points and straight lines, which divides straight lines into structural straight lines (that is, straight lines parallel to each other) and non-structural straight lines. In addition, unlike the orthogonal representation using four parameters to represent the 3D straight line, we only u"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2105.04064","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2105.04064/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}