Interacted Planes Reveal 3D Line Mapping
About
3D line mapping from multi-view RGB images provides a compact and structured visual representation of scenes. We study the problem from a physical and topological perspective: a 3D line most naturally emerges as the edge of a finite 3D planar patch. We present LiP-Map, a line-plane joint optimization framework that explicitly models learnable line and planar primitives. This coupling enables accurate and detailed 3D line mapping while maintaining strong efficiency (typically completing a reconstruction in 3 to 5 minutes per scene). LiP-Map pioneers the integration of planar topology into 3D line mapping, not by imposing pairwise coplanarity constraints but by explicitly constructing interactions between plane and line primitives, thus offering a principled route toward structured reconstruction in man-made environments. On more than 100 scenes from ScanNetV2, ScanNet++, Hypersim, 7Scenes, and Tanks\&Temple, LiP-Map improves both accuracy and completeness over state-of-the-art methods. Beyond line mapping quality, LiP-Map significantly advances line-assisted visual localization, establishing strong performance on 7Scenes. Our code is released at https://github.com/calmke/LiPMAP for reproducible research.
Related benchmarks
| Task | Dataset | Result | Rank | |
|---|---|---|---|---|
| Visual Localization | 7Scenes Stairs | Median Translation Error (cm)3.9 | 25 | |
| Visual Localization | 7Scenes Heads | Median Translation Error (cm)1 | 25 | |
| Visual Localization | 7Scenes (Office) | Median Translation Error (cm)2.7 | 25 | |
| Visual Localization | 7Scenes Fire | Median Translation Error (cm)1.9 | 25 | |
| Visual Localization | 7Scenes Chess | Median Translation Error (cm)1.9 | 25 | |
| Visual Localization | 7Scenes RedKitchen | Median Translation Error (cm)3.7 | 25 | |
| Visual Localization | 7Scenes Pumpkin | Median Translation Error (cm)3.5 | 25 | |
| 3D line mapping | ScanNetV2 15 (50 scenes) | Recall@56.74 | 16 | |
| 3D line mapping | ScanNet++ 16 (30 scenes) | Recall@514.31 | 16 | |
| 3D line mapping | Hypersim 17 (First 10 scenes) | R@1396.3 | 16 |