EDL-VINS: Protocol-Controlled Evaluation of an EDLines and Line-Flow Point-Line Visual-Inertial System

Comparisons of point-line visual-inertial systems can be distorted when trajectories cover different time intervals or when metric estimates receive scale correction. This study asks whether the recorded performance of an EDLines and line-flow system persists under identical temporal support and metric-preserving alignment. The evaluated EDLines (Edge Drawing Lines) visual-inertial navigation system (EDL-VINS) combines conditioned line extraction, pyramidal line-flow association, and Plücker-line factors within a point-line-inertial sliding window. To answer this question, we audit the retained trajectories across all eleven EuRoC sequences, resample the three systems onto a common time grid, and evaluate them without scale correction. The robustness of the resulting comparison is then tested under alternative alignment and timestamp support; gap-aware interpolation; and shorter-horizon, rotational, and archived-output variation analyses. EDL-VINS retains the lowest aggregate translational and rotational trajectory error, although sequence-specific exceptions and short-horizon results show that the ordering is not universal. These findings provide an auditable characterization of the evaluated configuration and show why temporal support, alignment, and data provenance must be explicit in visual-inertial comparisons.