# Structure PLP-SLAM: Efficient Sparse Mapping and Localization using Point, Line and Plane for Monocular, RGB-D and Stereo Cameras

arXiv: https://arxiv.org/abs/2207.06058 · HTML: https://mlsanity.com/paper/2207.06058/

## Key facts

- Cited by 16 papers in the map (data through 14 Oct 2026).
- Builds on 22 of its 56 references that are in the map.
- First posted on arXiv 13 Jul 2022.

## Builds on (most cited first, 22 of 22)

- [ORB-SLAM: a Versatile and Accurate Monocular SLAM System](https://mlsanity.com/paper/1502.00956/) (2015)
- [ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras](https://mlsanity.com/paper/1610.06475/) (2016)
- [From Coarse to Fine: Robust Hierarchical Localization at Large Scale](https://mlsanity.com/paper/1812.03506/) (2018)
- [Direct Sparse Odometry](https://mlsanity.com/paper/1607.02565/) (2016)
- [PlaneRCNN: 3D Plane Detection and Reconstruction from a Single Image](https://mlsanity.com/paper/1812.04072/) (2018)
- [OpenVSLAM: A Versatile Visual SLAM Framework](https://mlsanity.com/paper/1910.01122/) (2019)
- [PL-SLAM: a Stereo SLAM System through the Combination of Points and Line Segments](https://mlsanity.com/paper/1705.09479/) (2017)
- [Robust Visual SLAM with Point and Line Features](https://mlsanity.com/paper/1711.08654/) (2017)
- [Monocular Object and Plane SLAM in Structured Environments](https://mlsanity.com/paper/1809.03415/) (2018)
- [Monocular Camera Localization in Prior LiDAR Maps with 2D-3D Line Correspondences](https://mlsanity.com/paper/2004.00740/) (2020)
- [Structure-SLAM: Low-Drift Monocular SLAM in Indoor Environments](https://mlsanity.com/paper/2008.01963/) (2020)
- [RGB-D SLAM with Structural Regularities](https://mlsanity.com/paper/2010.07997/) (2020)
- [ManhattanSLAM: Robust Planar Tracking and Mapping Leveraging Mixture of Manhattan Frames](https://mlsanity.com/paper/2103.15068/) (2021)
- [Pop-up SLAM: Semantic Monocular Plane SLAM for Low-texture Environments](https://mlsanity.com/paper/1703.07334/) (2017)
- [Structure Aware SLAM using Quadrics and Planes](https://mlsanity.com/paper/1804.09111/) (2018)
- [PL-VINS: Real-Time Monocular Visual-Inertial SLAM with Point and Line Features](https://mlsanity.com/paper/2009.07462/) (2020)
- [Pose Refinement with Joint Optimization of Visual Points and Lines](https://mlsanity.com/paper/2110.03940/) (2021)
- [MegLoc: A Robust and Accurate Visual Localization Pipeline](https://mlsanity.com/paper/2111.13063/) (2021)
- [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)
- [PlaneSegNet: Fast and Robust Plane Estimation Using a Single-stage Instance Segmentation CNN](https://mlsanity.com/paper/2103.15428/) (2021)
- [Joint Layout Estimation and Global Multi-View Registration for Indoor Reconstruction](https://mlsanity.com/paper/1704.07632/) (2017)
- [Visual SLAM with Graph-Cut Optimized Multi-Plane Reconstruction](https://mlsanity.com/paper/2108.04281/) (2021)

## Built on by (most cited first, 16 of 16)

- [Robust Incremental Structure-from-Motion with Hybrid Features](https://mlsanity.com/paper/2409.19811/) (2024)
- [MG-SLAM: Structure Gaussian Splatting SLAM with Manhattan World Hypothesis](https://mlsanity.com/paper/2405.20031/) (2024)
- [Reconstructing 4D Spatial Intelligence: A Survey](https://mlsanity.com/paper/2507.21045/) (2025)
- [3D Neural Edge Reconstruction](https://mlsanity.com/paper/2405.19295/) (2024)
- [Curve-Aware Gaussian Splatting for 3D Parametric Curve Reconstruction](https://mlsanity.com/paper/2506.21401/) (2025)
- [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)
- [Video Understanding: From Geometry and Semantics to Unified Models](https://mlsanity.com/paper/2603.17840/) (2026)
- [Representing 3D sparse map points and lines for camera relocalization](https://mlsanity.com/paper/2402.18011/) (2024)
- [GeoFlow-SLAM: A Robust Tightly-Coupled RGBD-Inertial and Legged Odometry Fusion SLAM for Dynamic Legged Robotics](https://mlsanity.com/paper/2503.14247/) (2025)
- [Tightly-Coupled LiDAR-Visual SLAM Based on Geometric Features for Mobile Agents](https://mlsanity.com/paper/2307.07763/) (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)
- [Geometry Depth Consistency in RGBD Relative Pose Estimation](https://mlsanity.com/paper/2401.00639/) (2024)
- [Improved 3D Point-Line Mapping Regression for Camera Relocalization](https://mlsanity.com/paper/2502.20814/) (2025)
- [Stable and Scalable Bundle Adjustment of Holistic 3D Structures](https://mlsanity.com/paper/2609.04026/) (2026)

## Abstract (arXiv)

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 environment to provide a structural map in real-time. One of the biggest challenges in parallel tracking and mapping with a monocular camera is to keep the scale consistent when reconstructing the geometric primitives. This further introduces difficulties in graph optimization of the bundle adjustment (BA) step. We solve these problems by proposing several run-time optimizations on the reconstructed lines and planes. Our system is able to run with depth and stereo sensors in addition to the monocular setting. Our proposed SLAM tightly incorporates the semantic and geometric features to boost both frontend pose tracking and backend map optimization. We evaluate our system exhaustively on various datasets, and show that we outperform state-of-the-art methods in terms of trajectory precision. The code of PLP-SLAM has been made available in open-source for the research community (https://github.com/PeterFWS/Structure-PLP-SLAM).