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Visual-inertial odometry (VIO) algorithms, fusing various features such as points and lines, are able to improve their performance in challenging scenes while the running time severely increases. In this paper, we propose a novel lightweight point–line visual–inertial odometry algorithm to solve this problem, called LRPL-VIO. Firstly, a fast line matching method is proposed based on the assumption that the photometric values of endpoints and midpoints are invariant between consecutive frames, which greatly reduces the time consumption of the front end. Then, an efficient filter-based state estimation framework is designed to finish information fusion (point, line, and inertial). Fresh measurements of line features with good tracking quality are selected for state estimation using a unique feature selection scheme, which improves the efficiency of the proposed algorithm. Finally, validation experiments are conducted on public datasets and in real-world tests to evaluate the performance of LRPL-VIO and the results show that we outperform other state-of-the-art algorithms especially in terms of speed and robustness. [ABSTRACT FROM AUTHOR]

Identifying the key genes related to tumors from gene expression data with a large number of features is important for the accurate classification of tumors and to make special treatment decisions. In recent years, unsupervised feature selection algorithms have attracted considerable attention in the field of gene selection as they can find the most discriminating subsets of genes, namely the potential information in biological data. Recent research also shows that maintaining the important structure of data is necessary for gene selection. However, most current feature selection methods merely capture the local structure of the original data while ignoring the importance of the global structure of the original data. We believe that the global structure and local structure of the original data are equally important, and so the selected genes should maintain the essential structure of the original data as far as possible. In this paper, we propose a new, adaptive, unsupervised feature selection scheme which not only reconstructs high-dimensional data into a low-dimensional space with the constraint of feature distance invariance but also employs ℓ 2 , 1 -norm to enable a matrix with the ability to perform gene selection embedding into the local manifold structure-learning framework. Moreover, an effective algorithm is developed to solve the optimization problem based on the proposed scheme. Comparative experiments with some classical schemes on real tumor datasets demonstrate the effectiveness of the proposed method. [ABSTRACT FROM AUTHOR]