Before revision:  Further, by representing a line landmark with Pl\"{u}cker coordinate, the line reprojection residual is modeled as midpoint-to-line distance then minimized by iteratively updating the minimum four-parameter orthonormal representation of the Pl\"{u}cker coordinate . Experiments in public EuRoc benchmark dataset show the location error of our method is down 12-16\\%DIF < compared to VINS-Mono at the same work frequency on a low-power CPU @1.1 GHz without GPU parallelization.
After revision:  Further, by representing a line landmark with Pl\"{u}cker coordinates, the residual error in line estimation is modeled in terms of the point-to-line distance, which is then minimized by iteratively updating the minimum four-parameter orthonormal representation of the Pl\"{u}cker coordinate . Experiments in public EuRoc benchmark dataset show the location error of our method is down 12-16\\%DIF < compared to VINS-Mono at the same work frequency on a low-power CPU @1.1 GHz without GPU parallelization.