September 2006: Real-time MonoSLAM using straight lines as well as point features, in collaboration with Paul
Smith and Ian Reid from Oxford. Here efficiently-detected straight line segments in the image are parameterised as 3D lines and included in the SLAM state vector. When used in combination with point features lines can increase robustness and the quality of scene representation.
Real-Time Monocular SLAM with Straight Lines (PDF format),
Paul Smith, Ian Reid and Andrew J. Davison, BMVC 2006.