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Found 2 papers, 2 papers with code
Incremental 3D Line Segment Extraction from Semi-dense SLAM
This approach reduces a 3D line segment fitting problem into two 2D line segment fitting problems and takes advantage of both images and depth maps.
Real-Time Salient Closed Boundary Tracking via Line Segments Perceptual Grouping
The tracking scheme is coherently integrated into a perceptual grouping framework in which the visual tracking problem is tackled by identifying a subset of these line segments and connecting them sequentially to form a closed boundary with the largest saliency and a certain similarity to the previous one.
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