VINS-PL-Vehicle: Points and Lines-based Monocular VINS Combined with Vehicle Kinematics for Indoor Garage.

In this paper, we propose VINS-PL-Vehicle, a points and lines-based monocular visual-inertial navigation system(VINS) combined with vehicle kinematics for indoor garage. The indoor garage contains some texture-less regions. Thus, it is difficult to ensure the robustness of VINS only using point features. Therefore, in addition to point features, we also add line features on the pillars, parking slots, and top structures in the garage. Besides, we utilize the accurately known velocity and steering wheel angle from the vehicle chassis to form the kinematic constraints between image frames, which can not only solve the problem that the scale is not observable due to insufficient excitation of accelerometer when the vehicle is running at a constant speed, but also utilize its drift-free characteristics to improve the accuracy of system initialization and optimization. The vehicle tests show that our algorithm can achieve significantly higher positioning accuracy than VINS-Mono in the indoor garage.