VP-SLAM: A Monocular Real-time Visual SLAM with Points, Lines and Vanishing Points. (arXiv:2210.12756v2 [cs.RO] UPDATED)

Traditional monocular Visual Simultaneous Localization and Mapping (vSLAM)
systems can be divided into three categories: those that use features, those
that rely on the image itself, and hybrid models. In the case of feature-based
methods, new research has evolved to incorporate more information from their
environment using geometric primitives beyond points, such as lines and planes.
This is because in many environments, which are man-made environments,
characterized as Manhattan world, geometric primitives such as lines and planes
occupy most of …

arxiv real-time slam visual slam