# Robust Visual SLAM with Point and Line Features

arXiv: https://arxiv.org/abs/1711.08654 · HTML: https://mlsanity.com/paper/1711.08654/

## Key facts

- Cited by 23 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 23 Nov 2017.

## Built on by (most cited first, 23 of 23)

- [GlueStick: Robust Image Matching by Sticking Points and Lines Together](https://mlsanity.com/paper/2304.02008/) (2023)
- [DeepLSD: Line Segment Detection and Refinement with Deep Image Gradients](https://mlsanity.com/paper/2212.07766/) (2022)
- [3D Line Mapping Revisited](https://mlsanity.com/paper/2303.17504/) (2023)
- [Robust Incremental Structure-from-Motion with Hybrid Features](https://mlsanity.com/paper/2409.19811/) (2024)
- [Structure PLP-SLAM: Efficient Sparse Mapping and Localization using Point, Line and Plane for Monocular, RGB-D and Stereo Cameras](https://mlsanity.com/paper/2207.06058/) (2022)
- [Avoiding Degeneracy for Monocular Visual SLAM with Point and Line Features](https://mlsanity.com/paper/2103.01501/) (2021)
- [3D Neural Edge Reconstruction](https://mlsanity.com/paper/2405.19295/) (2024)
- [Handbook on Leveraging Lines for Two-View Relative Pose Estimation](https://mlsanity.com/paper/2309.16040/) (2023)
- [PAPL-SLAM: Principal Axis-Anchored Monocular Point-Line SLAM](https://mlsanity.com/paper/2410.12324/) (2024)
- [Unified Representation of Geometric Primitives for Graph-SLAM Optimization Using Decomposed Quadrics](https://mlsanity.com/paper/2108.08957/) (2021)
- [DynPL-SVO: A Robust Stereo Visual Odometry for Dynamic Scenes](https://mlsanity.com/paper/2205.08207/) (2022)
- [Stereo Visual Odometry with Deep Learning-Based Point and Line Feature Matching using an Attention Graph Neural Network](https://mlsanity.com/paper/2308.01125/) (2023)
- [PeLiCal: Targetless Extrinsic Calibration via Penetrating Lines for RGB-D Cameras with Limited Co-visibility](https://mlsanity.com/paper/2404.13949/) (2024)
- [LOF: Structure-Aware Line Tracking based on Optical Flow](https://mlsanity.com/paper/2109.08466/) (2021)
- [RSL-BA: Rolling Shutter Line Bundle Adjustment](https://mlsanity.com/paper/2408.05409/) (2024)
- [LightGlueStick: a Fast and Robust Glue for Joint Point-Line Matching](https://mlsanity.com/paper/2510.16438/) (2025)
- [EVOLIN Benchmark: Evaluation of Line Detection and Association](https://mlsanity.com/paper/2303.05162/) (2023)
- [QuadricsReg: Large-Scale Point Cloud Registration using Quadric Primitives](https://mlsanity.com/paper/2412.02998/) (2024)
- [PLD-SLAM: A Real-Time Visual SLAM Using Points and Line Segments in Dynamic Scenes](https://mlsanity.com/paper/2207.10916/) (2022)
- [RiemanLine: Riemannian Manifold Representation of 3D Lines for Factor Graph Optimization](https://mlsanity.com/paper/2508.04335/) (2025)
- [FS-I2P:A Hierarchical Focus-Sweep Registration Network with Dynamically Allocated Depth](https://mlsanity.com/paper/2605.07607/) (2026)
- [Unified and Efficient Point-Line Local Features](https://mlsanity.com/paper/2608.19894/) (2026)
- [Stable and Scalable Bundle Adjustment of Holistic 3D Structures](https://mlsanity.com/paper/2609.04026/) (2026)

## Abstract (arXiv)

In this paper, we develop a robust efficient visual SLAM system that utilizes heterogeneous point and line features. By leveraging ORB-SLAM [1], the proposed system consists of stereo matching, frame tracking, local mapping, loop detection, and bundle adjustment of both point and line features. In particular, as the main theoretical contributions of this paper, we, for the first time, employ the orthonormal representation as the minimal parameterization to model line features along with point features in visual SLAM and analytically derive the Jacobians of the re-projection errors with respect to the line parameters, which significantly improves the SLAM solution. The proposed SLAM has been extensively tested in both synthetic and real-world experiments whose results demonstrate that the proposed system outperforms the state-of-the-art methods in various scenarios.