Before revision: Leveraging line features to improve location accuracy of point-based visual-inertial SLAM (VINS) is gaining importance as they provide additional constraint of scene structureregularity, however, real-time performance  has not been focused .
After revision: Leveraging line features to improve location accuracy of point-based visual-inertial SLAM (VINS) is gaining importance as they provide additional constraint of scene structureregularity, however, real-time performance has not been addressed .