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Leveraging line features to improve location accuracy of point-based visual-inertial SLAM (VINS) is gaining importance as they provide additional constraint of scene structure regularity, however, real-time performance has not been focused. This paper presents PL-VINS, a real-time optimizationbased monocular VINS method with point and line, developed based on state-of-the-art point-based VINS-Mono [1]. Observe that current works use LSD [2] algorithm to extract lines, however, the LSD is designed for scene shape representation instead of specific pose estimation problem, which becomes the bottleneck for the real-time performance due to its expensive cost. In this work, a modified LSD algorithm is presented by studying hidden parameter tuning and length rejection strategy. The modified LSD can run three times at least as fast as the LSD. Further, by representing a line landmark with Pl ücker coordinate, the line reprojection residual is modeled as midpointto-line distance then minimized by iteratively updating the minimum four-parameter orthonormal representation of the Pl ücker coordinate. Experiments in public EuRoc benchmark dataset show the location error of our method is down 12-16% compared to VINS-Mono at the same work frequency on a low-

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Image segmentation, which has become a research hotspot in the field of image processing and computer vision, refers to the process of dividing an image into meaningful and non-overlapping regions, and it is an essential step in natural scene understanding. Despite decades of effort and many achievements, there are still challenges in feature extraction and model design. In this paper, we review the advancement in image segmentation methods systematically. According to the segmentation principles and image data characteristics, three important stages of image segmentation are mainly reviewed, which are classic segmentation, collaborative segmentation, and semantic segmentation based on deep learning. We elaborate on the main algorithms and key techniques in each stage, compare, and summarize the advantages and defects of different segmentation models, and discuss their applicability. Finally, we analyze the main challenges and development trends of image segmentation techniques.