{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/incremental-3d-line-segment-extraction-from","title":"Incremental 3D Line Segment Extraction from Semi-dense SLAM","arxiv_id":"1708.03275","date":"2017-08-10","proceeding":null,"authors":["Shida He","Xuebin Qin","Zichen Zhang","Martin Jagersand"],"abstract":"Although semi-dense Simultaneous Localization and Mapping (SLAM) has been\nbecoming more popular over the last few years, there is a lack of efficient\nmethods for representing and processing their large scale point clouds. In this\npaper, we propose using 3D line segments to simplify the point clouds generated\nby semi-dense SLAM. Specifically, we present a novel incremental approach for\n3D line segment extraction. This approach reduces a 3D line segment fitting\nproblem into two 2D line segment fitting problems and takes advantage of both\nimages and depth maps. In our method, 3D line segments are fitted incrementally\nalong detected edge segments via minimizing fitting errors on two planes. By\nclustering the detected line segments, the resulting 3D representation of the\nscene achieves a good balance between compactness and completeness. Our\nexperimental results show that the 3D line segments generated by our method are\nhighly accurate. As an application, we demonstrate that these line segments\ngreatly improve the quality of 3D surface reconstruction compared to a feature\npoint based baseline.","url_abs":"http://arxiv.org/abs/1708.03275v3","url_pdf":"http://arxiv.org/pdf/1708.03275v3.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"incremental-3d-line-segment-extraction-from","repo_url":"https://github.com/shidahe/semidense-lines","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[{"task_slug":"clustering","task_name":"Clustering"},{"task_slug":"simultaneous-localization-and-mapping","task_name":"Simultaneous Localization and Mapping"},{"task_slug":"surface-reconstruction","task_name":"Surface Reconstruction"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}