# PLS-VINS: Visual Inertial State Estimator With Point-Line Features Fusion and Structural Constraints

> Research article (IEEE Sensors Journal, 2021) · cited 19× · AI/ML

**Wikidata**: [openalex:W3214016897](https://www.wikidata.org/wiki/openalex:W3214016897)  
**Source**: https://4ort.xyz/entity/pls-vins-visual-inertial-state-estimator-with-point-line-features-fusion-and-structural-constraints