PL-SLAM Real-Time Monocular Visual SLAM with Points and Lines

基于LSD的直线提取算法

https://blog.csdn.net/tianwaifeimao/article/details/17678669

LBD算法 - 线描述符分析

https://blog.csdn.net/chishuideyu/article/details/78132093?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522162683983516780265410721%2522%252C%2522scm%2522%253A%252220140713.130102334..%2522%257D&request_id=162683983516780265410721&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2~all~sobaiduend~default-2-78132093.first_rank_v2_pc_rank_v29&utm_term=lbd&spm=1018.2226.3001.4187

LP论文原文

https://blog.csdn.net/u013341645/article/details/78668316?utm_medium=distribute.pc_relevant.none-task-blog-2%7Edefault%7EBlogCommendFromMachineLearnPai2%7Edefault-2.control&depth_1-utm_source=distribute.pc_relevant.none-task-blog-2%7Edefault%7EBlogCommendFromMachineLearnPai2%7Edefault-2.control

直观理解梯度，以及偏导数、方向导数和法向量等

https://www.cnblogs.com/shine-lee/p/11715033.html