An algorithm of monocular camera/SINS integrated navigation is presented for structural road. In order to overcome the difficulties of point features matching and tracking, which are restricted by carrier velocity and camera view, line features are extracted from the lane marks on the road. The line features are represented by dual quaternion. Compared with the relative pose estimation algorithm based on dual quaternion, the proposed algorithm deduced the formula of image feature increment and camera position increment. After registration and time synchronization, the velocity computation difference between the SINS and the camera was chosen as observation of integrated navigation. A Kalman filter was used to correct the integrated navigation error including the camera scale factor error of velocity measurement. The experiment results show that the proposed algorithm is accurate for structural road.