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The point and line features, which are fast extracted by ORB method and line segment detector (LSD) method, are both employed in this system to improve its ability to adapt to complex environments. In addition, two different representations of lines are adopted to improve the efficiency of the system. Besides stereo camera, an inertial measurement unit (IMU) is also used in the system to further improve its accuracy and robustness. An estimator is designed to integrate the camera and IMU measurements in a tightly coupled approach. The experimental results show that the performance of the proposed navigation system is better than the point-only VINS and the vision-only navigation system with points and lines.<\/jats:p>","DOI":"10.1155\/2018\/4801584","type":"journal-article","created":{"date-parts":[[2018,7,5]],"date-time":"2018-07-05T23:34:44Z","timestamp":1530833684000},"page":"1-14","source":"Crossref","is-referenced-by-count":3,"title":["An Indoor Navigation System Based on Stereo Camera and Inertial Sensors with Points and Lines"],"prefix":"10.1155","volume":"2018","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8929-8365","authenticated-orcid":true,"given":"Bo","family":"Yang","sequence":"first","affiliation":[{"name":"Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, School of Instrument Science and Engineering, Southeast University, Nanjing 210096, 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