An efficient and robust line segment matching approach based on LBD descriptor and pairwise geometric consistency

By Lilian Zhang, Reinhard Koch. Journal of Visual Communication and Image Representation, 2013

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PL-VIO: Tightly-Coupled Monocular Visual–Inertial Odometry Using Point and Line Features (2018, methodology): “State-of-the-art line detection and matching methods, such as the combination of LSD and LBD, are not satisfactory for VIO/SLAM systems.”
PL-SLAM: Real-time monocular visual SLAM with points and lines (2017, methodology): “Then, lines are pairwise matched with lines already present in the map using a relational graph strategy [33].”
PL-SLAM: A Stereo SLAM System Through the Combination of Points and Line Segments (2017, methodology): “For stereo matching and frame-to-frame tracking we augment line segments with a binary descriptor provided by the Line Band Descriptor (LBD) method [34], which allows us to ﬁnd correspondences between lines based on their local appearance.”