mlsanityData to 7 Oct 2026

ELSED: Enhanced Line SEgment Drawing

arXiv 2108.03144 ↗First posted 6 Aug 2021cs.CVcited by 23

Not on the map. Why?

Abstract (arXiv)

Detecting local features, such as corners, segments or blobs, is the first step in the pipeline of many Computer Vision applications. Its speed is crucial for real-time applications. In this paper we present ELSED, the fastest line segment detector in the literature. The key for its efficiency is a local segment growing algorithm that connects gradient-aligned pixels in presence of small discontinuities. The proposed algorithm not only runs in devices with very low end hardware, but may also be parametrized to foster the detection of short or longer segments, depending on the task at hand. We also introduce new metrics to evaluate the accuracy and repeatability of segment detectors. In our experiments with different public benchmarks we prove that our method accounts the highest repeatability and it is the most efficient in the literature. In the experiments we quantify the accuracy traded for such gain.

Key facts. Cited by 23 papers in the map (data through 7 Oct 2026). Builds on 12 of its 36 references that are in the map. First posted on arXiv 6 Aug 2021.

Builds on

12 of 36 references.

References · 12

  1. 2017HPatches: A benchmark and evaluation of handcrafted and learned local descriptorscited by 261
  2. 2021Line Segment Detection Using Transformers without Edgescited by 73
  3. 2019End-to-End Wireframe Parsingcited by 72
  4. 2020Learning to Parse Wireframes in Images of Man-Made Environmentscited by 71
  5. 2020Holistically-Attracted Wireframe Parsingcited by 63
  6. 2017PL-SLAM: a Stereo SLAM System through the Combination of Points and Line Segmentscited by 58
  7. 2018Learning Attraction Field Representation for Robust Line Segment Detectioncited by 52
  8. 2021SOLD2: Self-supervised Occlusion-aware Line Description and Detectioncited by 45
  9. 2019Learning to Reconstruct 3D Manhattan Wireframes from a Single Imagecited by 35
  10. 2021Fully Convolutional Line Parsingcited by 24
  11. 2020Structure-SLAM: Low-Drift Monocular SLAM in Indoor Environmentscited by 22
  12. 2018A Minimal Closed-Form Solution for Multi-Perspective Pose Estimation using Points and Linescited by 10

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 1; 2023: 7; 2024: 4; 2025: 3; 2026: 8.

23 papers.

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  1. 2023GlueStick: Robust Image Matching by Sticking Points and Lines Togethercited by 65
  2. 2022DeepLSD: Line Segment Detection and Refinement with Deep Image Gradientscited by 58
  3. 2024Fully Geometric Panoramic Localizationcited by 11
  4. 2023A Comprehensive Review of Image Line Segment Detection and Description: Taxonomies, Comparisons, and Challengescited by 6
  5. 2023TwinTex: Geometry-aware Texture Generation for Abstracted 3D Architectural Modelscited by 5
  6. 2025ScaleLSD: Scalable Deep Line Segment Detection Streamlinedcited by 5
  7. 2023LF-PGVIO: A Visual-Inertial-Odometry Framework for Large Field-of-View Cameras using Points and Geodesic Segmentscited by 3
  8. 2023EVOLIN Benchmark: Evaluation of Line Detection and Associationcited by 1
  9. 2023Level-line Guided Edge Drawing for Robust Line Segment Detectioncited by 1
  10. 2024Galibr: Targetless LiDAR-Camera Extrinsic Calibration Method via Ground Plane Initializationcited by 1
  11. 2026MiLSD: A Micro Line-Segment Detector for Resource-Constrained Devicescited by 1
  12. 2023Linear Object Detection in Document Images using Multiple Object Trackingcited by 0
11 more
  1. 2024Learning Multiple Representations with Inconsistency-Guided Detail Regularization for Mask-Guided Mattingcited by 0
  2. 2024Gr-IoU: Ground-Intersection over Union for Robust Multi-Object Tracking with 3D Geometric Constraintscited by 0
  3. 2025Efficient Lines Detection for Robot Soccercited by 0
  4. 2025Aligned Anchor Groups Guided Line Segment Detectorcited by 0
  5. 2026Enabling Stroke-Level Structural Analysis of Hieroglyphic Scripts without Language-Specific Priorscited by 0
  6. 2026RoEL: Robust Event-based 3D Line Reconstructioncited by 0
  7. 2026COMPASS: COmpact Multi-channel Prior-map And Scene Signature for Floor-Plan-Based Visual Localizationcited by 0
  8. 2026Unified and Efficient Point-Line Local Featurescited by 0
  9. 2026SweepLSD: A One-Pass, O(width)-Memory Line Segment Detector with an Integer-Only Streaming Core and a Real-Time FPGA Realizationcited by 0
  10. 2026STARLINC: Satellite Trail Artifact Removal using Inter-Frame Correlationcited by 0
  11. 2026NPLSD: Accelerating Line-Segment Detection on NPU Microcontrollerscited by 0