1. Structure-from-motion revisited;Schonberger,2016
2. ORB-SLAM: A Versatile and Accurate Monocular SLAM System
3. Scalable recognition with a vocabulary tree;Nister,2006
4. Learning descriptors for object recognition and 3D pose estimation;Wohlhart,2015
5. FSG: A statistical approach to line detection via fast segments grouping;Suarez,2018