Fig. 1. Overall framework of the system

Fig. 2. Illustration of line segment merging

Fig. 3. Plucker coordinates of line

Fig. 4. Reprojection error model for line features

Fig. 5. MF and MW Scene

Fig. 6. Estimation of rotation based on the MF

Fig. 7. Values of APE RMSE for different parameters

Fig. 8. Line feature extraction effect of each algorithm

Fig. 9. Iteration plot of the APE RMSE

Fig. 10. Trajectory plots of each SLAM algorithm on partial sequences

Fig. 11. Plot of ATE between SP-SLAM and Ours on lr-kt1

Fig. 12. Map construction on the fr3-long-office sequence

Fig. 13. Map construction on the lr-kt2 sequence