# RGB-D SLAM with Structural Regularities

arXiv: https://arxiv.org/abs/2010.07997 · HTML: https://mlsanity.com/paper/2010.07997/

## Key facts

- Cited by 19 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 15 Oct 2020.

## Built on by (most cited first, 19 of 19)

- [MG-SLAM: Structure Gaussian Splatting SLAM with Manhattan World Hypothesis](https://mlsanity.com/paper/2405.20031/) (2024)
- [ManhattanSLAM: Robust Planar Tracking and Mapping Leveraging Mixture of Manhattan Frames](https://mlsanity.com/paper/2103.15068/) (2021)
- [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)
- [4D Gaussian Splatting SLAM](https://mlsanity.com/paper/2503.16710/) (2025)
- [PlaneRecNet: Multi-Task Learning with Cross-Task Consistency for Piece-Wise Plane Detection and Reconstruction from a Single RGB Image](https://mlsanity.com/paper/2110.11219/) (2021)
- [E-Graph: Minimal Solution for Rigid Rotation with Extensibility Graphs](https://mlsanity.com/paper/2207.10008/) (2022)
- [GeoTexDensifier: Geometry-Texture-Aware Densification for High-Quality Photorealistic 3D Gaussian Splatting](https://mlsanity.com/paper/2412.16809/) (2024)
- [GRAND-SLAM: Local Optimization for Globally Consistent Large-Scale Multi-Agent Gaussian SLAM](https://mlsanity.com/paper/2506.18885/) (2025)
- [IBISCape: A Simulated Benchmark for multi-modal SLAM Systems Evaluation in Large-scale Dynamic Environments](https://mlsanity.com/paper/2206.13455/) (2022)
- [MSC-VO: Exploiting Manhattan and Structural Constraints for Visual Odometry](https://mlsanity.com/paper/2111.03408/) (2021)
- [Dominating Set Database Selection for Visual Place Recognition](https://mlsanity.com/paper/2303.05123/) (2023)
- [PAS-SLAM: A Visual SLAM System for Planar Ambiguous Scenes](https://mlsanity.com/paper/2402.06131/) (2024)
- [EVOLIN Benchmark: Evaluation of Line Detection and Association](https://mlsanity.com/paper/2303.05162/) (2023)
- [Map++: Towards User-Participatory Visual SLAM Systems with Efficient Map Expansion and Sharing](https://mlsanity.com/paper/2411.02553/) (2024)
- [Semantic Dense Reconstruction with Consistent Scene Segments](https://mlsanity.com/paper/2109.14821/) (2021)
- [Lost in Tracking Translation: A Comprehensive Analysis of Visual SLAM in Human-Centered XR and IoT Ecosystems](https://mlsanity.com/paper/2411.07146/) (2024)
- [Deep Learning-Powered Visual SLAM Aimed at Assisting Visually Impaired Navigation](https://mlsanity.com/paper/2510.20549/) (2025)
- [PARTE: Plane-Assisted Robust Transformation Estimation for Point Cloud Registration](https://mlsanity.com/paper/2609.25375/) (2026)
- [Does Dynamic-Point Filtering Help When Texture Is Scarce? A Controlled Study of ORB-SLAM2 Front-Ends in Synthetic Indoor Scenes](https://mlsanity.com/paper/2610.10564/) (2026)

## Abstract (arXiv)

This work proposes a RGB-D SLAM system specifically designed for structured environments and aimed at improved tracking and mapping accuracy by relying on geometric features that are extracted from the surrounding. Structured environments offer, in addition to points, also an abundance of geometrical features such as lines and planes, which we exploit to design both the tracking and mapping components of our SLAM system. For the tracking part, we explore geometric relationships between these features based on the assumption of a Manhattan World (MW). We propose a decoupling-refinement method based on points, lines, and planes, as well as the use of Manhattan relationships in an additional pose refinement module. For the mapping part, different levels of maps from sparse to dense are reconstructed at a low computational cost. We propose an instance-wise meshing strategy to build a dense map by meshing plane instances independently. The overall performance in terms of pose estimation and reconstruction is evaluated on public benchmarks and shows improved performance compared to state-of-the-art methods. The code is released at urlhttps://github.com/yanyan-li/PlanarSLAM