Leveraging line features to improve location accuracy of point-based visual-inertial SLAM (VINS) is gaining importance as they provide additional constraint of scene structure regularity, however, real-time performance has not been focused. This paper presents PL-VINS, a real-time optimization-based monocular VINS method with point and line, developed based on state-of-the-art point-based VINS-Mono cite{vins}… Observe that current works use LSD cite{lsd} algorithm to extract lines, however, the LSD is designed for scene shape representation instead of specific pose estimation problem, which becomes […]