Line segments are powerful features complementary to points. They offer structural cues,
robust to drastic viewpoint and illumination changes, and can be present even in texture …

Line segments are ubiquitous in our human-made world and are increasingly used in vision
tasks. They are complementary to feature points thanks to their spatial extent and the …

To address the problem of estimating camera trajectory and to build a structural three-
dimensional (3D) map based on inertial measurements and visual observations, this paper …

In feature-based simultaneous localization and mapping (SLAM), line features complement
the sparsity of point features, making it possible to map the surrounding environment …

In contrast to sparse keypoints, a handful of line segments can concisely encode the high-
level scene layout, as they often delineate the main structural elements. In addition to …

Localization in urban environments is becoming increasingly important and used in tools
such as ARCore, ARKit and others. One popular mechanism to achieve accurate indoor …

This paper presents a fast and parsimonious parsing method to accurately and robustly
detect a vectorized wireframe in an input image with a single forward pass. The proposed …

In recent years, simultaneous localization and mapping in dynamic environments (dynamic
SLAM) has attracted significant attention from both academia and industry. Some pioneering …

This paper presents a visual SLAM system that uses both points and lines for robust camera
localization, and simultaneously performs a piece-wise planar reconstruction (PPR) of the …

This paper introduces an efficient direct visual odometry (VO) algorithm using points and
lines. Pixels on lines are generally adopted in direct methods. However, the original …