{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,13]],"date-time":"2026-05-13T23:16:03Z","timestamp":1778714163318,"version":"3.51.4"},"reference-count":31,"publisher":"Emerald","issue":"3","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2025,4,30]]},"abstract":"<jats:sec>\n                  <jats:title>Purpose<\/jats:title>\n                  <jats:p>The purpose of this study is to address the low localization accuracy and frequent tracking failures of traditional visual SLAM methods in low-light and weak-texture situations, and we propose a mobile robot visual-inertial localization method based on the improved point-line features VINS-mono algorithm.<\/jats:p>\n               <\/jats:sec>\n               <jats:sec>\n                  <jats:title>Design\/methodology\/approach<\/jats:title>\n                  <jats:p>First, the line feature information is introduced into VINS-mono. Subsequently, the EDlines line feature extraction algorithm is optimized with a short line merging strategy and a dynamic length suppression strategy to reduce redundant short lines and fragmented segments. In the back-end sliding window optimization, line feature reprojection errors are incorporated, and Huber kernel functions are added to the inertial measurement unit residuals, point-line feature residuals and loop closure constraints to reduce the impact of outliers on the optimization results.<\/jats:p>\n               <\/jats:sec>\n               <jats:sec>\n                  <jats:title>Findings<\/jats:title>\n                  <jats:p>Comparison and verification experiments are carried out on the EuRoC MAV Data set and real weakly textured environment. In the real low-light and weak-texture scenarios, the improved mobile robot localization system achieves over 40% higher accuracy compared to VINS-mono.<\/jats:p>\n               <\/jats:sec>\n               <jats:sec>\n                  <jats:title>Originality\/value<\/jats:title>\n                  <jats:p>The main contribution of this study is to propose a new visual-inertial SLAM method combining point-line features, which can achieve good localization effect in low-light and weak-texture scenes, with higher accuracy and robustness.<\/jats:p>\n               <\/jats:sec>","DOI":"10.1108\/ir-08-2024-0381","type":"journal-article","created":{"date-parts":[[2024,11,28]],"date-time":"2024-11-28T23:29:55Z","timestamp":1732836595000},"page":"391-402","source":"Crossref","is-referenced-by-count":4,"title":["Mobile robot localization method based on point-line feature visual-inertial SLAM algorithm"],"prefix":"10.1108","volume":"52","author":[{"given":"Jintao","family":"Xu","sequence":"first","affiliation":[{"name":"Shanghai University of Engineering Science School of Mechanical and Automotive Engineering, , Shanghai,","place":["China"]}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yu","family":"Fang","sequence":"additional","affiliation":[{"name":"Shanghai University of Engineering Science School of Mechanical and Automotive Engineering, , Shanghai,","place":["China"]}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Weiwei","family":"Gao","sequence":"additional","affiliation":[{"name":"Shanghai University of Engineering Science School of Mechanical and Automotive Engineering, , Shanghai,","place":["China"]}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xintian","family":"Liu","sequence":"additional","affiliation":[{"name":"Shanghai University of Engineering Science School of Mechanical and Automotive Engineering, , Shanghai,","place":["China"]}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Juanjuan","family":"Shi","sequence":"additional","affiliation":[{"name":"Soochow University School of Rail Transportation, , Suzhou,","place":["China"]}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hao","family":"Yang","sequence":"additional","affiliation":[{"name":"Shanghai University of Engineering Science School of Mechanical and Automotive Engineering, , Shanghai,","place":["China"]}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","published-online":{"date-parts":[[2024,12,2]]},"reference":[{"issue":"4","key":"2025081307185861700_ref001","doi-asserted-by":"crossref","first-page":"97","DOI":"10.3390\/robotics9040097","article-title":"Localization and mapping for robots in agriculture and forestry: a survey","volume":"9","author":"Aguiar","year":"2020","journal-title":"Robotics"},{"issue":"13","key":"2025081307185861700_ref002","doi-asserted-by":"crossref","first-page":"1633","DOI":"10.1016\/j.patrec.2011.06.001","article-title":"EDLines: a real-time line segment detector with a false detection control","volume":"32","author":"Akinlar","year":"2011","journal-title":"Pattern Recognition Letters"},{"key":"2025081307185861700_ref003","first-page":"298","article-title":"Robust visual inertial odometry using a direct EKF-based approach","author":"Bloesch","year":"2015"},{"issue":"10","key":"2025081307185861700_ref004","doi-asserted-by":"crossref","first-page":"1157","DOI":"10.1177\/0278364915620033","article-title":"The EuRoC micro aerial vehicle datasets","volume":"35","author":"Burri","year":"2016","journal-title":"The International Journal of Robotics Research"},{"issue":"6","key":"2025081307185861700_ref005","doi-asserted-by":"crossref","first-page":"1309","DOI":"10.1109\/TRO.2016.2624754","article-title":"Past, present, and future of simultaneous localization and mapping: toward the robust-perception age","volume":"32","author":"Cadena","year":"2016","journal-title":"IEEE Transactions on Robotics"},{"issue":"6","key":"2025081307185861700_ref006","doi-asserted-by":"crossref","first-page":"1874","DOI":"10.1109\/TRO.2021.3075644","article-title":"Orb-slam3: an accurate open-source library for visual, visual\u2013inertial, and multimap slam","volume":"37","author":"Campos","year":"2021","journal-title":"IEEE Transactions on Robotics"},{"key":"2025081307185861700_ref007","doi-asserted-by":"crossref","first-page":"123","DOI":"10.1016\/j.robot.2018.11.014","article-title":"Odor source localization algorithms on mobile robots: a review and future outlook","volume":"112","author":"Chen","year":"2019","journal-title":"Robotics and Autonomous Systems"},{"issue":"6","key":"2025081307185861700_ref008","doi-asserted-by":"crossref","first-page":"1052","DOI":"10.1109\/TPAMI.2007.1049","article-title":"MonoSLAM: real-time single camera SLAM","volume":"29","author":"Davison","year":"2007","journal-title":"IEEE Transactions on Pattern Analysis and Machine Intelligence"},{"issue":"3","key":"2025081307185861700_ref009","doi-asserted-by":"crossref","first-page":"611","DOI":"10.1109\/TPAMI.2017.2658577","article-title":"Direct sparse odometry","volume":"40","author":"Engel","year":"2017","journal-title":"IEEE Transactions on Pattern Analysis and Machine Intelligence"},{"key":"2025081307185861700_ref010","article-title":"PL-VINS: real-time monocular visual-inertial SLAM with point and line features","author":"Fu","year":"2020"},{"issue":"3","key":"2025081307185861700_ref011","doi-asserted-by":"crossref","first-page":"734","DOI":"10.1109\/TRO.2019.2899783","article-title":"PL-SLAM: a stereo SLAM system through the combination of points and line segments","volume":"35","author":"Gomez-Ojeda","year":"2019","journal-title":"IEEE Transactions on Robotics"},{"issue":"5","key":"2025081307185861700_ref012","doi-asserted-by":"crossref","first-page":"2334","DOI":"10.1109\/TIE.2013.2270211","article-title":"A square root unscented FastSLAM with improved proposal distribution and resampling","volume":"61","author":"Havangi","year":"2013","journal-title":"IEEE Transactions on Industrial Electronics"},{"issue":"4","key":"2025081307185861700_ref013","doi-asserted-by":"crossref","first-page":"1159","DOI":"10.3390\/s18041159","article-title":"PL-VIO: tightly-coupled monocular visual\u2013inertial odometry using point and line features","volume":"18","author":"He","year":"2018","journal-title":"Sensors"},{"issue":"6","key":"2025081307185861700_ref014","doi-asserted-by":"crossref","first-page":"649","DOI":"10.1007\/s10514-023-10110-y","article-title":"Agri-SLAM: a real-time stereo visual SLAM for agricultural environment","volume":"47","author":"Islam","year":"2023","journal-title":"Autonomous Robots"},{"key":"2025081307185861700_ref015","doi-asserted-by":"crossref","first-page":"166","DOI":"10.1016\/j.inffus.2022.08.013","article-title":"Survey of landmark-based indoor positioning technologies","volume":"89","author":"Jang","year":"2023","journal-title":"Information Fusion"},{"key":"2025081307185861700_ref016","doi-asserted-by":"crossref","first-page":"117734","DOI":"10.1016\/j.eswa.2022.117734","article-title":"A survey of state-of-the-art on visual SLAM","volume":"205","author":"Kazerouni","year":"2022","journal-title":"Expert Systems with Applications"},{"issue":"4","key":"2025081307185861700_ref017","doi-asserted-by":"crossref","first-page":"387","DOI":"10.1007\/s10514-009-9155-6","article-title":"On measuring the accuracy of SLAM algorithms","volume":"27","author":"K\u00fcmmerle","year":"2009","journal-title":"Autonomous Robots"},{"key":"2025081307185861700_ref018","doi-asserted-by":"crossref","first-page":"108524","DOI":"10.1016\/j.measurement.2020.108524","article-title":"Research on multi-sensor pedestrian dead reckoning method with UKF algorithm","volume":"169","author":"Li","year":"2021","journal-title":"Measurement"},{"issue":"1","key":"2025081307185861700_ref019","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1109\/TRO.2015.2496823","article-title":"Visual place recognition: a survey","volume":"32","author":"Lowry","year":"2015","journal-title":"IEEE Transactions on Robotics"},{"key":"2025081307185861700_ref020","first-page":"3565","article-title":"A multi-state constraint Kalman filter for vision-aided inertial navigation","author":"Mourikis","year":"2007"},{"issue":"5","key":"2025081307185861700_ref021","doi-asserted-by":"crossref","first-page":"1255","DOI":"10.1109\/TRO.2017.2705103","article-title":"Orb-slam2: an open-source slam system for monocular, stereo, and RGB-D cameras","volume":"33","author":"Mur-Artal","year":"2017","journal-title":"IEEE Transactions on Robotics"},{"issue":"5","key":"2025081307185861700_ref022","doi-asserted-by":"crossref","first-page":"1147","DOI":"10.1109\/TRO.2015.2463671","article-title":"ORB-SLAM: a versatile and accurate monocular SLAM system","volume":"31","author":"Mur-Artal","year":"2015","journal-title":"IEEE Transactions on Robotics"},{"issue":"8","key":"2025081307185861700_ref023","doi-asserted-by":"crossref","first-page":"6019","DOI":"10.1016\/j.jksuci.2021.02.015","article-title":"Localization strategies for autonomous mobile robots: a review","volume":"34","author":"Panigrahi","year":"2022","journal-title":"Journal of King Saud University \u2013 Computer and Information Sciences"},{"issue":"4","key":"2025081307185861700_ref024","doi-asserted-by":"crossref","first-page":"1004","DOI":"10.1109\/TRO.2018.2853729","article-title":"VINS-Mono: a robust and versatile monocular visual-inertial state estimator","volume":"34","author":"Qin","year":"2018","journal-title":"IEEE Transactions on Robotics"},{"issue":"2","key":"2025081307185861700_ref025","first-page":"1234","article-title":"Robust optimization in SLAM back-end using Huber loss function","volume":"5","author":"Smith","year":"2020","journal-title":"IEEE Robotics and Automation Letters"},{"issue":"3","key":"2025081307185861700_ref026","doi-asserted-by":"crossref","first-page":"339","DOI":"10.1007\/s11263-011-0492-5","article-title":"Impact of landmark parametrization on monocular EKF-SLAM with points and lines","volume":"97","author":"Sola","year":"2012","journal-title":"International Journal of Computer Vision"},{"key":"2025081307185861700_ref027","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1109\/HPBDIS49115.2020.9130571","article-title":"PLS-VIO: stereo vision-inertial odometry based on point and line features","volume-title":"2020 International Conference on High Performance Big Data and Intelligent Systems (HPBD&IS)","author":"Wen","year":"2020"},{"issue":"2","key":"2025081307185861700_ref028","doi-asserted-by":"crossref","first-page":"250","DOI":"10.1017\/S0263574720000351","article-title":"Information fusion of GPS, INS and odometer sensors for improving localization accuracy of mobile robots in indoor and outdoor applications","volume":"39","author":"Yousuf","year":"2021","journal-title":"Robotica"},{"issue":"3","key":"2025081307185861700_ref029","doi-asserted-by":"crossref","first-page":"2568","DOI":"10.1109\/COMST.2019.2911558","article-title":"A survey of indoor localization systems and technologies","volume":"21","author":"Zafari","year":"2019","journal-title":"IEEE Communications Surveys & Tutorials"},{"issue":"7","key":"2025081307185861700_ref030","doi-asserted-by":"crossref","first-page":"794","DOI":"10.1016\/j.jvcir.2013.05.006","article-title":"An efficient and robust line segment matching approach based on LBD descriptor and pairwise geometric consistency","volume":"24","author":"Zhang","year":"2013","journal-title":"Journal of Visual Communication and Image Representation"},{"issue":"4","key":"2025081307185861700_ref031","doi-asserted-by":"crossref","first-page":"999","DOI":"10.1109\/TRO.2019.2915140","article-title":"StructVIO: visual-inertial odometry with structural regularity of man-made environments","volume":"35","author":"Zou","year":"2019","journal-title":"IEEE Transactions on Robotics"}],"container-title":["Industrial Robot: the international journal of robotics research and application"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-08-2024-0381\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/ir\/article-pdf\/52\/3\/391\/10058642\/ir-08-2024-0381.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"syndication"},{"URL":"https:\/\/www.emerald.com\/ir\/article-pdf\/52\/3\/391\/10058642\/ir-08-2024-0381.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,8,13]],"date-time":"2025-08-13T11:19:04Z","timestamp":1755083944000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.emerald.com\/ir\/article\/52\/3\/391\/1272495\/Mobile-robot-localization-method-based-on-point"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,12,2]]},"references-count":31,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2025,4,30]]}},"URL":"https:\/\/doi.org\/10.1108\/ir-08-2024-0381","relation":{},"ISSN":["0143-991X","1758-5791"],"issn-type":[{"value":"0143-991X","type":"print"},{"value":"1758-5791","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024,12,2]]}}}