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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 ...

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Overview of one stage in PointMLP. Given an input point cloud, PointMLP progressively extracts local features using residual point MLP blocks. In each stage, we first transform the local point using a ...