Fig. 1. Flowchart of monocular visual odometry

Fig. 2. Feature extraction of points (green) and lines (red) in Tum dataset

Fig. 3. Schematic of error analysis for different initialization models

Fig. 4. Schematic of depth filter

Fig. 5. Real-time operation effects in part of the Euroc datasets. (a) MH_01 dataset; (b) MH_02 dataset

Fig. 6. Location effect in partial Euroc datasets. (a) MH_01 dataset; (b) MH_02 dataset

Fig. 7. Real-time operation effects in part of the Tum datasets. (a) fr2_desk dataset; (b) fr2_xyz dataset

Fig. 8. Location effects in partial Euroc datasets. (a) fr2_desk dataset; (b) fr2_xyz dataset

Fig. 9. Physical map of robot platform

Fig. 10. Running effects of actual robot. (a) Indoor scene; (b) corridor scene