Monocular visual-inertial odometry (VIO) is a low-cost solution to provide high-accuracy, low-drifting pose estimation. However, it has been meeting challenges in vehicular scenarios due to limited dynamics and lack of stable features. In this paper, we propose Ground-VIO, which utilizes ground features and the specific camera-ground geometry to enhance monocular VIO performance in realistic road environments. In the method, the camera-ground geometry is modeled with vehicle-centered parameters and integrated into an optimization-based VIO framework. These parameters could be calibrated online and simultaneously improve the odometry accuracy by providing stable scale-awareness. Besides, a specially designed visual front-end is developed to stably extract and track ground features via the inverse perspective mapping (IPM) technique. Both simulation tests and real-world experiments are conducted to verify the effectiveness of the proposed method. The results show that our implementation could dramatically improve monocular VIO accuracy in vehicular scenarios, achieving comparable or even better performance than state-of-art stereo VIO solutions. The system could also be used for the auto-calibration of IPM which is widely used in vehicle perception. A toolkit for ground feature processing, together with the experimental datasets, would be made open-source (https://github.com/GREAT-WHU/gv_tools).

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