Furthermore, PLI-SLAM could still operate robustly even in some challenging environments. The processing time of our method is reduced by 28%, compared to the ORB-LINE-SLAM based on point and line, when using Line Segment Detector (LSD).Zhaoyu Teng...
Finally, experiments on the EuRoC dataset show that the proposed PLI-VINS performs better than the traditional visual inertial SLAM system using point features and point line features.doi:10.3390/s22145457Zhangzhen ZhaoTao SongBin XingYu Lei