In this paper, a degeneracy avoidance method for a point-and-line-based visual simultaneous localization and mapping (SLAM) algorithm is proposed. Visual SLAM predominantly uses point features. However, point features lack robustness in low texture and illuminance variant environments. Therefore, line features are used to compensate for the weaknesses of point features. In addition, point features are poor in representing discernable features for the naked eye, meaning mapped point features cannot be recognized. To overcome the limitations above, line features were actively employed in previous studies. However, since degeneracy arises in the process of using line features, this paper attempts to solve this problem. First, a simple method to identify degenerate lines is presented. In addition, a novel structural constraint is proposed to avoid the degeneracy problem. At last, a point-and-line-based monocular SLAM system using a robust optical-flow-based line tracking method is implemented. The results are verified using experiments with the EuRoC dataset and compared with other state-of-the-art algorithms. It is proven that our method yields more accurate localization as well as mapping results.
