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NoI*	PAI*

Final city map estimate (with no loop closure) with no added information (left) vs with planar and angular information added (right). Where some buildings appear to lose planarity on the left image especially towards the end of the trajectory (far right of the image), the same buildings appear to conserve planarity and orthogonality on the right image.

• NoI: without added information, PAI: planar & angular information added.

The following figures shows a comparison of SLAM with a) no added structural information, with added planar information when modelling walls as b) one plane and d) four separate planes. The second row shows a different view of the same scene. Red shows ground truth data, and blue final estimates. (more figures are shown on next page.)