##LineSLAM
Line feature based RGBD SLAM, supporting fusion with point features, developed based on RGBDSLAM v2.
=============== ###Dependencies
- ROS hydro
- OpenCV 2.4.X
- OpenBLAS (build from source)
- Armadillo
- Eigen3 (download from official website and replace the default one if on Ubuntu)
- LSD, EDLines, levmar : included in this repo.
=============== ###Installation Refer to http://felixendres.github.io/rgbdslam_v2/
======== ###Usage roslaunch lineslam lineslam.launch
============ ###Reference Yan Lu and Dezhen Song, "Robust RGB-D Odometry Using Point and Line Features" , IEEE International Conference on Computer Vision (ICCV), Santiago, Chile, Dec. 13-16, 2015