# From Points to Planes - Adding Planar Constraints to Monocular SLAM Factor Graphs

> Research article (2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020) · cited 23× · AI/ML

**Wikidata**: [openalex:W3130023978](https://www.wikidata.org/wiki/openalex:W3130023978)  
**Source**: https://4ort.xyz/entity/from-points-to-planes-adding-planar-constraints-to-monocular-slam-factor-graphs