# Improved Point–Line Visual–Inertial Odometry System Using Helmert Variance Component Estimation

> Research article (Remote Sensing, 2020) · cited 12× · AI/ML

**Wikidata**: [openalex:W3084337684](https://www.wikidata.org/wiki/openalex:W3084337684)  
**Source**: https://4ort.xyz/entity/improved-pointline-visualinertial-odometry-system-using-helmert-variance-component-estimation