 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.
<clarity>  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 indirect SLAM methods using points and line segments have achieved excellent results, they still face problems in challenging scenes containing occlusions, blurred images , and repetitive textures.