[2] Qian Q, Bai T M, Bi Y F et al. Monocular simultaneous localization and mapping initialization method based on point and line features[J]. Acta Optica Sinica, 41, 1215002(2021).
[5] Klein G, Murray D. Parallel tracking and mapping for small AR workspaces[C], 225-234(2007).
[9] Li T, Guan B L, Zhang J M et al. Relative pose measurement method for monocular cameras by combining the point and line features[J]. Laser & Optoelectronics Progress, 57, 081102(2020).
[13] Lu J X, Fang Z J, Chen J Y et al. RGB-D visual odometry combined with points and lines[J]. Acta Optica Sinica, 41, 0415001(2021).