The invention discloses a vSLAM implementation method and system based on point and line feature fusion. The method includes Step S110, obtaining an image frame sequence of a target scene; Step S120,preprocessing each frame of image; Step S130, according to successfully matched point features and lie features, initializing an environmental map; Step S140, tracking based on the environmental map,and estimating the pose of a current frame of image; Step S150, judging whether the current frame of image meets a key frame condition, if yes, executing Step S160, otherwise repeatedly executing StepS110 to Step S150; Step S160, executing a step of a local map thread; Step S170, executing a step of a closed-loop detection thread; and Step S180, executing a step of a global optimization thread toobtain an optimized environmental map and complete simultaneous localization and mapping. The extraction and matching processes of line features are improved, so as to improve the accuracy of data association in the front end, and thus the defects of vSLAM which exist in a complicated low-texture scene can be effectively overcome.