When the camera moves quickly and the image is blurred or the texture in the scene is missing, the Simultaneous Localization and Mapping (SLAM) algorithm based on point feature experiences difficulty tracking enough effective feature points, and the positioning accuracy and robustness are poor, and even may not work properly. For this problem, we propose a monocular visual odometry algorithm based on the point and line features and combining IMU measurement data. Based on this, an environmental-feature map with ge…