2021
PLF-VINS: Real-Time Monocular Visual-Inertial SLAM With Point-Line Fusion and Parallel-Line Fusion
RA-L 2021
This letter presents a real-time monocular visual-inertial simultaneous localization and mapping with point-line fusion and parallel-line fusion. The corner and line features provide plenty of information about object structures. In the 2D image plane, such corner and line features have a positional