{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,9,17]],"date-time":"2026-09-17T15:31:03Z","timestamp":1789659063736,"version":"4.0.1"},"reference-count":34,"publisher":"MDPI AG","issue":"18","license":[{"start":{"date-parts":[[2026,9,10]],"date-time":"2026-09-10T00:00:00Z","timestamp":1788998400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["52371351"],"award-info":[{"award-number":["52371351"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"award":["52371351"],"award-info":[{"award-number":["52371351"]}],"id":[{"id":"https:\/\/ror.org\/01h0zpd94","id-type":"ROR","asserted-by":"publisher"}]},{"name":"Fundamental and Interdisciplinary Disciplines Breakthrough Plan of the Ministry of Education of China","award":["JYB2025XDXM110"],"award-info":[{"award-number":["JYB2025XDXM110"]}],"id":[{"id":"https:\/\/ror.org\/03m01yf64","id-type":"ROR","asserted-by":"crossref"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Accurate stereo visual\u2013inertial measurement is essential for mobile robots operating in Global Navigation Satellite System (GNSS)-denied and structurally complex environments. In stereo visual\u2013inertial odometry (VIO), pose and trajectory outputs depend strongly on the point measurements delivered by the visual front end before sensor-fusion update. In sparse-texture but structurally regular scenes, tracked point features may exhibit poor persistence, uneven spatial distribution, and local tracking noise, even when informative line structures are present. Existing point\u2013line VIO methods can improve positioning accuracy by introducing line landmarks or line residuals, but they usually modify the estimator state, measurement model, and Jacobian treatment. We present a scene-adaptive line-aware visual measurement conditioning method for stereo VIO front ends with point-measurement updates. The method uses 2-D image-line segments as lightweight structural priors and applies bounded normal-direction conditioning to reliable point measurements before a fixed-interface VIO back-end update. A sparse pruning safeguard removes only highly inconsistent long-lived tracks under strong structural support, while a scene-level confidence gate attenuates the intervention when line evidence is weak or unstable. The method is instantiated and evaluated in an S-MSCKF pipeline. On the reported EuRoC MAV sequences, it reduces the sequence-averaged absolute trajectory error (ATE) RMSE by approximately 13% relative to S-MSCKF, with 3\u201327% reductions on machine-hall sequences. On three real-world robot measurement sequences with an RTK-aided inertial reference, the mean Sim(2)-aligned planar position error decreases from 8.72 m to 7.31 m, and the mean yaw error decreases from 8.02\u00b0 to 6.76\u00b0; an additional scale-preserving SE(2) evaluation reveals sequence-dependent planar behavior and residual metric-scale sensitivity. Candidate-level stereo-consistency diagnostics show subpixel mean and 95th-percentile image-domain perturbations without systematic vertical-stereo bias, while the final reliability-weighted primary-view update is analytically bounded by approximately 0.221 pixels in the reported implementation. Runtime profiling reports an average front-end time of 33.34 ms on the tested CPU platform, close to the 33.3 ms frame period of the 30 Hz stereo input, although the \u03bc+3\u03c3 runtime of 47.23 ms exceeds a strict frame-by-frame 30 Hz budget. These results suggest that line-aware front-end conditioning can improve visual measurement quality in structured stereo visual\u2013inertial sensing without modifying the evaluated back-end interface.<\/jats:p>","DOI":"10.3390\/s26185760","type":"journal-article","created":{"date-parts":[[2026,9,10]],"date-time":"2026-09-10T14:11:22Z","timestamp":1789049482000},"page":"5760","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Scene-Adaptive Line-Aware Visual Measurement Conditioning for Stereo Visual\u2013Inertial Odometry"],"prefix":"10.3390","volume":"26","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9565-0628","authenticated-orcid":false,"given":"Yi","family":"Liang","sequence":"first","affiliation":[{"name":"School of Instrumentation Science and Engineering, Harbin Institute of Technology, Harbin 150001, China"}],"role":[{"vocabulary":"crossref","role":"author"},{"role":"conceptualization","vocabulary":"credit"},{"role":"methodology","vocabulary":"credit"},{"role":"software","vocabulary":"credit"},{"role":"validation","vocabulary":"credit"},{"role":"formal-analysis","vocabulary":"credit"},{"role":"investigation","vocabulary":"credit"},{"role":"data-curation","vocabulary":"credit"},{"role":"writing-original-draft","vocabulary":"credit"},{"role":"visualization","vocabulary":"credit"}]},{"ORCID":"https:\/\/orcid.org\/0009-0004-9685-1404","authenticated-orcid":false,"given":"Bingbing","family":"Hang","sequence":"additional","affiliation":[{"name":"School of Instrumentation Science and Engineering, Harbin Institute of Technology, Harbin 150001, China"}],"role":[{"vocabulary":"crossref","role":"author"},{"role":"conceptualization","vocabulary":"credit"},{"role":"methodology","vocabulary":"credit"},{"role":"software","vocabulary":"credit"},{"role":"validation","vocabulary":"credit"},{"role":"formal-analysis","vocabulary":"credit"},{"role":"investigation","vocabulary":"credit"},{"role":"data-curation","vocabulary":"credit"},{"role":"writing-original-draft","vocabulary":"credit"},{"role":"visualization","vocabulary":"credit"}]},{"given":"Wenqiang","family":"Li","sequence":"additional","affiliation":[{"name":"School of Instrumentation Science and Engineering, Harbin Institute of Technology, Harbin 150001, China"}],"role":[{"vocabulary":"crossref","role":"author"},{"role":"conceptualization","vocabulary":"credit"},{"role":"formal-analysis","vocabulary":"credit"},{"role":"resources","vocabulary":"credit"},{"role":"writing-review-editing","vocabulary":"credit"},{"role":"supervision","vocabulary":"credit"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3965-7985","authenticated-orcid":false,"given":"Yue","family":"Yuan","sequence":"additional","affiliation":[{"name":"Department of Industrial and Systems Engineering, The Hong Kong Polytechnic University, Hong Kong, China"}],"role":[{"vocabulary":"crossref","role":"author"},{"role":"validation","vocabulary":"credit"},{"role":"writing-review-editing","vocabulary":"credit"}]},{"given":"Feng","family":"Shen","sequence":"additional","affiliation":[{"name":"School of Instrumentation Science and Engineering, Harbin Institute of Technology, Harbin 150001, China"}],"role":[{"vocabulary":"crossref","role":"author"},{"role":"conceptualization","vocabulary":"credit"},{"role":"resources","vocabulary":"credit"},{"role":"writing-review-editing","vocabulary":"credit"},{"role":"supervision","vocabulary":"credit"},{"role":"project-administration","vocabulary":"credit"},{"role":"funding-acquisition","vocabulary":"credit"}]}],"member":"1968","published-online":{"date-parts":[[2026,9,10]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"0120","DOI":"10.34133\/cbsystems.0120","article-title":"Fast and Comfortable Robot-to-Human Handover for Mobile Cooperation Robot System","volume":"5","author":"Meng","year":"2024","journal-title":"Cyborg Bionic Syst."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"1920","DOI":"10.1109\/LRA.2025.3526570","article-title":"Bistable Soft Gripper with Tension Net Applied to UAV","volume":"10","author":"Yang","year":"2025","journal-title":"IEEE Robot. 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