 While indirect SLAM methods using points and line segments have achieved excellent results, they still face problems in challenging scenarios such as occlusions, image blur , and repetitive textures.
<meaning-changed>  While indirect SLAM methods using points and line segments have achieved excellent results, they still face problems in challenging scenarios such as occlusions, image blur , and repetitive textures.
 While feature-based SLAM methods have achieved excellent results, they still face problems in challenging scenarios such as occlusions, image blur , and repetitive textures.