# Consistent EKF-Based Visual-Inertial Navigation Using Points and Lines

> Research article (IEEE Sensors Journal, 2018) · cited 37× · AI/ML

**Wikidata**: [openalex:W2884241099](https://www.wikidata.org/wiki/openalex:W2884241099)  
**Source**: https://4ort.xyz/entity/consistent-ekf-based-visual-inertial-navigation-using-points-and-lines