{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,4]],"date-time":"2026-06-04T04:34:10Z","timestamp":1780547650090,"version":"3.54.1"},"reference-count":35,"publisher":"MDPI AG","issue":"18","license":[{"start":{"date-parts":[[2021,9,9]],"date-time":"2021-09-09T00:00:00Z","timestamp":1631145600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/2.zoppoz.workers.dev:443\/https\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["NSFC. 61803118"],"award-info":[{"award-number":["NSFC. 61803118"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Special Project of Chongqing Technology Innovation and Application Development","award":["cstc2019jscx-msxmX0423"],"award-info":[{"award-number":["cstc2019jscx-msxmX0423"]}]},{"name":"Science and Technology Research Program of Chongqing Municipal Education Commission","award":["KJZD-K201804701"],"award-info":[{"award-number":["KJZD-K201804701"]}]},{"name":"Post Doc. Foundation of Heilongjiang Province","award":["LBH-Z17053"],"award-info":[{"award-number":["LBH-Z17053"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Remote Sensing"],"abstract":"<jats:p>Visual Simultaneous Localization and Mapping (SLAM) technologies based on point features achieve high positioning accuracy and complete map construction. However, despite their time efficiency and accuracy, such SLAM systems are prone to instability and even failure in poor texture environments. In this paper, line features are integrated with point features to enhance the robustness and reliability of stereo SLAM systems in poor texture environments. Firstly, method Edge Drawing lines (EDlines) is applied to reduce the line feature detection time. Meanwhile, the proposed method improves the reliability of features by eliminating outliers of line features based on the entropy scale and geometric constraints. Furthermore, this paper proposes a novel Bags of Word (BoW) model combining the point and line features to improve the accuracy and robustness of loop detection used in SLAM. The proposed PL-BoW technique achieves this by taking into account the co-occurrence information and spatial proximity of visual words. Experiments using the KITTI and EuRoC datasets demonstrate that the proposed stereo Point and EDlines SLAM (PEL-SLAM) achieves high accuracy consistently, including in challenging environments difficult to sense accurately. The processing time of the proposed method is reduced by 9.9% and 4.5% when compared to the Point and Line SLAM (PL-SLAM) and Point and stereo Point and Line based Visual Odometry (sPLVO) methods, respectively.<\/jats:p>","DOI":"10.3390\/rs13183591","type":"journal-article","created":{"date-parts":[[2021,9,9]],"date-time":"2021-09-09T21:36:58Z","timestamp":1631223418000},"page":"3591","update-policy":"https:\/\/2.zoppoz.workers.dev:443\/https\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":16,"title":["Point-Line Visual Stereo SLAM Using EDlines and PL-BoW"],"prefix":"10.3390","volume":"13","author":[{"ORCID":"https:\/\/2.zoppoz.workers.dev:443\/https\/orcid.org\/0000-0002-8840-5242","authenticated-orcid":false,"given":"Hanxiao","family":"Rong","sequence":"first","affiliation":[{"name":"College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yanbin","family":"Gao","sequence":"additional","affiliation":[{"name":"College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/2.zoppoz.workers.dev:443\/https\/orcid.org\/0000-0001-8803-910X","authenticated-orcid":false,"given":"Lianwu","family":"Guan","sequence":"additional","affiliation":[{"name":"College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Alex","family":"Ramirez-Serrano","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, University of Calgary, Calgary, AB T2N 1N4, Canada"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xu","family":"Xu","sequence":"additional","affiliation":[{"name":"College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yunyu","family":"Zhu","sequence":"additional","affiliation":[{"name":"First Institute of Oceanography, MNR, Qingdao 266061, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2021,9,9]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"56","DOI":"10.1177\/027836498600500404","article-title":"On the representation and estimation of spatial uncertainty","volume":"5","author":"Smith","year":"1986","journal-title":"Int. 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