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The main idea is to use the generating process of point clouds on SLAM effectively. First, a batch-based method is applied to point clouds that are incrementally generated from SLAM. Then, the temporal history of reconstructed geometric primitives is statistically analyzed to suppress incorrect reconstruction. The evaluation shows that both precision and stability are improved compared to an existing batch-based method, and the proposed method is suitable for real-time structural modeling.<\/jats:p>","DOI":"10.1186\/s41074-017-0018-3","type":"journal-article","created":{"date-parts":[[2017,3,15]],"date-time":"2017-03-15T11:42:37Z","timestamp":1489578157000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["Incremental structural modeling on sparse visual SLAM"],"prefix":"10.1186","volume":"9","author":[{"given":"Rafael A.","family":"Roberto","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hideaki","family":"Uchiyama","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jo\u00e3o Paulo S. 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