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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.

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, and with both planar and angular information when modelling walls as c) one plane and e) four separate planes. The second row shows a different view of the same scene. Ground truth is shown in red, and the final estimation is shown in blue. Noise levels are displayed on figures. (more figures are shown on next page.)