{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,24]],"date-time":"2026-02-24T17:33:54Z","timestamp":1771954434723,"version":"3.50.1"},"reference-count":32,"publisher":"MDPI AG","issue":"19","license":[{"start":{"date-parts":[[2023,9,24]],"date-time":"2023-09-24T00:00:00Z","timestamp":1695513600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Beijing Nature Science Foundation of China","award":["4232014"],"award-info":[{"award-number":["4232014"]}]},{"name":"Beijing Nature Science Foundation of China","award":["KJFGS-QTZCHT-2022-008"],"award-info":[{"award-number":["KJFGS-QTZCHT-2022-008"]}]},{"name":"Science And Technology Entry program","award":["4232014"],"award-info":[{"award-number":["4232014"]}]},{"name":"Science And Technology Entry program","award":["KJFGS-QTZCHT-2022-008"],"award-info":[{"award-number":["KJFGS-QTZCHT-2022-008"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Remote Sensing"],"abstract":"<jats:p>Point feature-based visual simultaneous localization and mapping (SLAM) systems are prone to performance degradation in low-texture environments due to insufficient extraction of point features. In this paper, we propose a tightly-coupled stereo visual-inertial SLAM system with point and line features (PLI-SLAM) to enhance the robustness and reliability of systems in low-texture environments. We improve Edge Drawing lines (EDlines) for line feature detection by introducing curvature detection and a new standard for minimum line segment length to improve the accuracy of the line features, while reducing the line feature detection time. We contribute also with an improved adapting factor based on experiment to adjust the error weight of line features, which further improves the localization accuracy of the system. Our system has been tested on the EuRoC dataset. Tests on public datasets and in real environments have shown that PLI-SLAM achieves high accuracy. 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).<\/jats:p>","DOI":"10.3390\/rs15194678","type":"journal-article","created":{"date-parts":[[2023,9,24]],"date-time":"2023-09-24T10:48:31Z","timestamp":1695552511000},"page":"4678","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":16,"title":["PLI-SLAM: A Tightly-Coupled Stereo Visual-Inertial SLAM System with Point and Line Features"],"prefix":"10.3390","volume":"15","author":[{"ORCID":"https:\/\/orcid.org\/0009-0001-3078-2512","authenticated-orcid":false,"given":"Zhaoyu","family":"Teng","sequence":"first","affiliation":[{"name":"School of Optics and Photonics, Beijing Institute of Technology, Beijing 100081, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Bin","family":"Han","sequence":"additional","affiliation":[{"name":"School of Optics and Photonics, Beijing Institute of Technology, Beijing 100081, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jie","family":"Cao","sequence":"additional","affiliation":[{"name":"School of Optics and Photonics, Beijing Institute of Technology, Beijing 100081, China"},{"name":"Yangtze Delta Region Academy, Beijing Institute of Technology, Jiaxing 314003, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Qun","family":"Hao","sequence":"additional","affiliation":[{"name":"School of Optics and Photonics, Beijing Institute of Technology, Beijing 100081, China"},{"name":"Yangtze Delta Region Academy, Beijing Institute of Technology, Jiaxing 314003, China"},{"name":"School of Opto-Electronic Engineering, Changchun University of Science and Technology, Changchun 130022, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xin","family":"Tang","sequence":"additional","affiliation":[{"name":"School of Optics and Photonics, Beijing Institute of Technology, Beijing 100081, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhaoyang","family":"Li","sequence":"additional","affiliation":[{"name":"School of Optics and Photonics, Beijing Institute of Technology, Beijing 100081, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2023,9,24]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Ma, X., and Ning, S. 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