# Handbook on Leveraging Lines for Two-View Relative Pose Estimation

arXiv: https://arxiv.org/abs/2309.16040 · HTML: https://mlsanity.com/paper/2309.16040/

## Key facts

- Cited by 6 papers in the map (data through 14 Oct 2026).
- Builds on 36 of its 91 references that are in the map.
- First posted on arXiv 27 Sep 2023.

## Builds on (most cited first, 30 of 36)

- [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)
- [FlowNet: Learning Optical Flow with Convolutional Networks](https://mlsanity.com/paper/1504.06852/) (2015)
- [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)
- [DISK: Learning local features with policy gradient](https://mlsanity.com/paper/2006.13566/) (2020)
- [Image Matching across Wide Baselines: From Paper to Practice](https://mlsanity.com/paper/2003.01587/) (2020)
- [Learning a Multi-View Stereo Machine](https://mlsanity.com/paper/1708.05375/) (2017)
- [MAGSAC++, a fast, reliable and accurate robust estimator](https://mlsanity.com/paper/1912.05909/) (2019)
- [Point-Based Multi-View Stereo Network](https://mlsanity.com/paper/1908.04422/) (2019)
- [Graph-Cut RANSAC](https://mlsanity.com/paper/1706.00984/) (2017)
- [LaMAR: Benchmarking Localization and Mapping for Augmented Reality](https://mlsanity.com/paper/2210.10770/) (2022)
- [GlueStick: Robust Image Matching by Sticking Points and Lines Together](https://mlsanity.com/paper/2304.02008/) (2023)
- [MeshLoc: Mesh-Based Visual Localization](https://mlsanity.com/paper/2207.10762/) (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)
- [Repeatability Is Not Enough: Learning Affine Regions via Discriminability](https://mlsanity.com/paper/1711.06704/) (2017)
- [SOLD2: Self-supervised Occlusion-aware Line Description and Detection](https://mlsanity.com/paper/2104.03362/) (2021)
- [Large-scale, real-time visual-inertial localization revisited](https://mlsanity.com/paper/1907.00338/) (2019)
- [Progressive-X: Efficient, Anytime, Multi-Model Fitting Algorithm](https://mlsanity.com/paper/1906.02290/) (2019)
- [Toward Geometric Deep SLAM](https://mlsanity.com/paper/1707.07410/) (2017)
- [MODS: Fast and Robust Method for Two-View Matching](https://mlsanity.com/paper/1503.02619/) (2015)
- [Robust Visual SLAM with Point and Line Features](https://mlsanity.com/paper/1711.08654/) (2017)
- [Learning to Solve Hard Minimal Problems](https://mlsanity.com/paper/2112.03424/) (2021)
- [PLMP -- Point-Line Minimal Problems in Complete Multi-View Visibility](https://mlsanity.com/paper/1903.10008/) (2019)
- [VSAC: Efficient and Accurate Estimator for H and F](https://mlsanity.com/paper/2106.10240/) (2021)
- [PL1P -- Point-line Minimal Problems under Partial Visibility in Three Views](https://mlsanity.com/paper/2003.05015/) (2020)
- [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)
- [Efficient Initial Pose-graph Generation for Global SfM](https://mlsanity.com/paper/2011.11986/) (2020)

## Built on by (most cited first, 6 of 6)

- [EdgeGaussians -- 3D Edge Mapping via Gaussian Splatting](https://mlsanity.com/paper/2409.12886/) (2024)
- [SketchSplat: 3D Edge Reconstruction via Differentiable Multi-view Sketch Splatting](https://mlsanity.com/paper/2503.14786/) (2025)
- [LineGS : 3D Line Segment Representation on 3D Gaussian Splatting](https://mlsanity.com/paper/2412.00477/) (2024)
- [LightGlueStick: a Fast and Robust Glue for Joint Point-Line Matching](https://mlsanity.com/paper/2510.16438/) (2025)
- [Unified and Efficient Point-Line Local Features](https://mlsanity.com/paper/2608.19894/) (2026)
- [Agentic Relative Camera Pose Estimation via Learned Ranking and Verification](https://mlsanity.com/paper/2609.38755/) (2026)

## Abstract (arXiv)

We propose an approach for estimating the relative pose between calibrated image pairs by jointly exploiting points, lines, and their coincidences in a hybrid manner. We investigate all possible configurations where these data modalities can be used together and review the minimal solvers available in the literature. Our hybrid framework combines the advantages of all configurations, enabling robust and accurate estimation in challenging environments. In addition, we design a method for jointly estimating multiple vanishing point correspondences in two images, and a bundle adjustment that considers all relevant data modalities. Experiments on various indoor and outdoor datasets show that our approach outperforms point-based methods, improving AUC@10^circ by 1-7 points while running at comparable speeds. The source code of the solvers and hybrid framework will be made public.