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        Journal: Sensors, 2019
        Volume: 19 
                	Number: 2004 
                
        
        Article:
        An Optimized Tightly-Coupled VIO Design on the Basis of the Fused Point and Line Features for Patrol Robot Navigation 
        Authors: 
       	by
                    Linlin Xia, Qingyu Meng, Deru Chi, Bo Meng and Hanrui Yang        
        Link:
        https://www.mdpi.com/1424-8220/19/9/2004
        
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