Before revision:  This paper presents PL-VINS, a real-time optimization-based monocular VINS method with point and line  , developed based on  state-of-the-art point-based VINS-Mono vins.
After revision:  This paper presents PL-VINS, a real-time optimization-based monocular VINS method with point and line features , developed based on state-of-the-art point-based VINS-Mono vins.