@article{structureplpslamefficientsparsemapping,
  title = {Structure PLP-SLAM: Efficient Sparse Mapping and Localization using Point, Line and Plane for Monocular, RGB-D and Stereo Cameras},
  author = {Fangwen Shu and Jiaxuan Wang and Alain Pagani and Didier Stricker},
  year = {2022},
  eprint = {2207.06058},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2207.06058v3},
}