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We propose a novel Line based parameterization for category specific CAD models. The proposed parameterization associates 3D category-specific CAD model and object under consideration using a dictionary based RANSAC method that uses object Viewpoints as prior and edges detected in the respective intensity image of the scene.

We present a new paradigm for real-time object-oriented SLAM with a monocular camera. After 3D object shape and pose estimate from a single image using latest machine learning & keypoint reprojection error optimization, we show improvement in camera trajectory and object localization over current state of art monocular ORB-SLAM after merging odometry data from a feature based SLAM.