@inproceedings{Pumarola_icra2017,
author    = {A. Pumarola and A. Vakhitov and A. Agudo and A. Sanfeliu and F. Moreno-Noguer},
title     = {PL-SLAM: Real-Time Monocular Visual SLAM with Points and Lines},
booktitle = {Proceedings of the International Conference on Robotics and Automation (ICRA)},
pages     = {}, 
year      = {2017},
}