Source code of an incremental and consistent 2-D line segment-based mapping approach proposed in
J. Wen, X. Zhang, H. Gao, J. Yuan, and Y. Fang, "CAE-RLSM: Consistent and efficient redundant line segment merging for online feature map building", IEEE Transactions on Instrumentation and Measurement, 2020, 69(7): 4222-4237. [paper] [video]