# GlueStick: Robust Image Matching by Sticking Points and Lines Together

arXiv: https://arxiv.org/abs/2304.02008 · HTML: https://mlsanity.com/paper/2304.02008/

## Key facts

- Cited by 66 papers in the map (data through 14 Oct 2026).
- Builds on 42 of its 89 references that are in the map.
- First posted on arXiv 4 Apr 2023.

## Builds on (most cited first, 30 of 42)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenes](https://mlsanity.com/paper/1702.04405/) (2017)
- [SuperGlue: Learning Feature Matching with Graph Neural Networks](https://mlsanity.com/paper/1911.11763/) (2019)
- [SuperPoint: Self-Supervised Interest Point Detection and Description](https://mlsanity.com/paper/1712.07629/) (2017)
- [ORB-SLAM: a Versatile and Accurate Monocular SLAM System](https://mlsanity.com/paper/1502.00956/) (2015)
- [LoFTR: Detector-Free Local Feature Matching with Transformers](https://mlsanity.com/paper/2104.00680/) (2021)
- [NetVLAD: CNN architecture for weakly supervised place recognition](https://mlsanity.com/paper/1511.07247/) (2015)
- [MegaDepth: Learning Single-View Depth Prediction from Internet Photos](https://mlsanity.com/paper/1804.00607/) (2018)
- [From Coarse to Fine: Robust Hierarchical Localization at Large Scale](https://mlsanity.com/paper/1812.03506/) (2018)
- [HPatches: A benchmark and evaluation of handcrafted and learned local descriptors](https://mlsanity.com/paper/1704.05939/) (2017)
- [Working hard to know your neighbor's margins: Local descriptor learning loss](https://mlsanity.com/paper/1705.10872/) (2017)
- [Revisiting Oxford and Paris: Large-Scale Image Retrieval Benchmarking](https://mlsanity.com/paper/1803.11285/) (2018)
- [COTR: Correspondence Transformer for Matching Across Images](https://mlsanity.com/paper/2103.14167/) (2021)
- [DKM: Dense Kernelized Feature Matching for Geometry Estimation](https://mlsanity.com/paper/2202.00667/) (2022)
- [Learning to Find Good Correspondences](https://mlsanity.com/paper/1711.05971/) (2017)
- [Visual Camera Re-Localization from RGB and RGB-D Images Using DSAC](https://mlsanity.com/paper/2002.12324/) (2020)
- [Neighbourhood Consensus Networks](https://mlsanity.com/paper/1810.10510/) (2018)
- [ASpanFormer: Detector-Free Image Matching with Adaptive Span Transformer](https://mlsanity.com/paper/2208.14201/) (2022)
- [Neural-Guided RANSAC: Learning Where to Sample Model Hypotheses](https://mlsanity.com/paper/1905.04132/) (2019)
- [MatchFormer: Interleaving Attention in Transformers for Feature Matching](https://mlsanity.com/paper/2203.09645/) (2022)
- [Learning Accurate Dense Correspondences and When to Trust Them](https://mlsanity.com/paper/2101.01710/) (2021)
- [Learning to Match Features with Seeded Graph Matching Network](https://mlsanity.com/paper/2108.08771/) (2021)
- [Line Segment Detection Using Transformers without Edges](https://mlsanity.com/paper/2101.01909/) (2021)
- [End-to-End Wireframe Parsing](https://mlsanity.com/paper/1905.03246/) (2019)
- [Learning to Parse Wireframes in Images of Man-Made Environments](https://mlsanity.com/paper/2007.07527/) (2020)
- [Holistically-Attracted Wireframe Parsing](https://mlsanity.com/paper/2003.01663/) (2020)
- [ClusterGNN: Cluster-based Coarse-to-Fine Graph Neural Network for Efficient Feature Matching](https://mlsanity.com/paper/2204.11700/) (2022)
- [DeepLSD: Line Segment Detection and Refinement with Deep Image Gradients](https://mlsanity.com/paper/2212.07766/) (2022)
- [PL-SLAM: a Stereo SLAM System through the Combination of Points and Line Segments](https://mlsanity.com/paper/1705.09479/) (2017)
- [Learning Attraction Field Representation for Robust Line Segment Detection](https://mlsanity.com/paper/1812.02122/) (2018)

## Built on by (most cited first, 30 of 66)

- [DUSt3R: Geometric 3D Vision Made Easy](https://mlsanity.com/paper/2312.14132/) (2023)
- [Optimal Transport Aggregation for Visual Place Recognition](https://mlsanity.com/paper/2311.15937/) (2023)
- [TranSplat: Generalizable 3D Gaussian Splatting from Sparse Multi-View Images with Transformers](https://mlsanity.com/paper/2408.13770/) (2024)
- [GaussNav: Gaussian Splatting for Visual Navigation](https://mlsanity.com/paper/2403.11625/) (2024)
- [Wear-Any-Way: Manipulable Virtual Try-on via Sparse Correspondence Alignment](https://mlsanity.com/paper/2403.12965/) (2024)
- [Robust Incremental Structure-from-Motion with Hybrid Features](https://mlsanity.com/paper/2409.19811/) (2024)
- [Local Feature Matching Using Deep Learning: A Survey](https://mlsanity.com/paper/2401.17592/) (2024)
- [Generative Inbetweening through Frame-wise Conditions-Driven Video Generation](https://mlsanity.com/paper/2412.11755/) (2024)
- [Learning to Make Keypoints Sub-Pixel Accurate](https://mlsanity.com/paper/2407.11668/) (2024)
- [LoD-Loc: Aerial Visual Localization using LoD 3D Map with Neural Wireframe Alignment](https://mlsanity.com/paper/2410.12269/) (2024)
- [NEAT: Distilling 3D Wireframes from Neural Attraction Fields](https://mlsanity.com/paper/2307.10206/) (2023)
- [3D Neural Edge Reconstruction](https://mlsanity.com/paper/2405.19295/) (2024)
- [Fully Geometric Panoramic Localization](https://mlsanity.com/paper/2403.19904/) (2024)
- [Visuospatial Cognitive Assistant](https://mlsanity.com/paper/2505.12312/) (2025)
- [EdgeGaussians -- 3D Edge Mapping via Gaussian Splatting](https://mlsanity.com/paper/2409.12886/) (2024)
- [Curve-Aware Gaussian Splatting for 3D Parametric Curve Reconstruction](https://mlsanity.com/paper/2506.21401/) (2025)
- [RIPE: Reinforcement Learning on Unlabeled Image Pairs for Robust Keypoint Extraction](https://mlsanity.com/paper/2507.04839/) (2025)
- [A Comprehensive Review of Image Line Segment Detection and Description: Taxonomies, Comparisons, and Challenges](https://mlsanity.com/paper/2305.00264/) (2023)
- [Handbook on Leveraging Lines for Two-View Relative Pose Estimation](https://mlsanity.com/paper/2309.16040/) (2023)
- [SketchSplat: 3D Edge Reconstruction via Differentiable Multi-view Sketch Splatting](https://mlsanity.com/paper/2503.14786/) (2025)
- [MambaGlue: Fast and Robust Local Feature Matching With Mamba](https://mlsanity.com/paper/2502.00462/) (2025)
- [ScaleLSD: Scalable Deep Line Segment Detection Streamlined](https://mlsanity.com/paper/2506.09369/) (2025)
- [Towards Long Term SLAM on Thermal Imagery](https://mlsanity.com/paper/2403.19885/) (2024)
- [Thin-Plate Spline-based Interpolation for Animation Line Inbetweening](https://mlsanity.com/paper/2408.09131/) (2024)
- [Image Demoir'eing Using Dual Camera Fusion on Mobile Phones](https://mlsanity.com/paper/2506.08361/) (2025)
- [Representing 3D sparse map points and lines for camera relocalization](https://mlsanity.com/paper/2402.18011/) (2024)
- [PeLiCal: Targetless Extrinsic Calibration via Penetrating Lines for RGB-D Cameras with Limited Co-visibility](https://mlsanity.com/paper/2404.13949/) (2024)
- [Breaking the Frame: Visual Place Recognition by Overlap Prediction](https://mlsanity.com/paper/2406.16204/) (2024)
- [Tensor-Based Synchronization and the Low-Rankness of the Block Trifocal Tensor](https://mlsanity.com/paper/2409.09313/) (2024)
- [EdgeRegNet: Edge Feature-based Multimodal Registration Network between Images and LiDAR Point Clouds](https://mlsanity.com/paper/2503.15284/) (2025)

## Abstract (arXiv)

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-less areas. However, describing and matching them is more challenging compared to points due to partial occlusions, lack of texture, or repetitiveness. This paper introduces a new matching paradigm, where points, lines, and their descriptors are unified into a single wireframe structure. We propose GlueStick, a deep matching Graph Neural Network (GNN) that takes two wireframes from different images and leverages the connectivity information between nodes to better glue them together. In addition to the increased efficiency brought by the joint matching, we also demonstrate a large boost of performance when leveraging the complementary nature of these two features in a single architecture. We show that our matching strategy outperforms the state-of-the-art approaches independently matching line segments and points for a wide variety of datasets and tasks. The code is available at https://github.com/cvg/GlueStick.