{"paper":{"title":"PLVS: A SLAM System with Points, Lines, Volumetric Mapping, and 3D Incremental Segmentation","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.CV","authors_text":"Luigi Freda","submitted_at":"2023-09-19T19:42:26Z","abstract_excerpt":"This document presents PLVS: a real-time system that leverages sparse SLAM, volumetric mapping, and 3D unsupervised incremental segmentation. PLVS stands for Points, Lines, Volumetric mapping, and Segmentation. It supports RGB-D and Stereo cameras, which may be optionally equipped with IMUs. The SLAM module is keyframe-based, and extracts and tracks sparse points and line segments as features. Volumetric mapping runs in parallel with respect to the SLAM front-end and generates a 3D reconstruction of the explored environment by fusing point clouds backprojected from keyframes. Different volumet"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2309.10896","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2309.10896/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}