Before revision:  Observe that current works use  LSD lsd algorithm to extract lines, however, the LSD is designed for scene shape representation instead of specific pose estimation problem, which becomes the bottleneck for the real-time performance due to its expensive cost.
After revision:  We observe that current works use LSD lsd algorithm to extract lines, however, the LSD is designed for scene shape representation instead of specific pose estimation problem, which becomes the bottleneck for the real-time performance due to its expensive cost.