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@INPROCEEDINGS{,
        author = {Gomez-Ojeda, Ruben and Gonzalez-Jimenez, Javier},
      keywords = {visual odometry},
         title = {Robust Stereo Visual Odometry through a Probabilistic Combination of Points and Line Segments},
     booktitle = {2016 IEEE International Conference on Robotics and Automation (ICRA)},
          year = {2016},
      location = {Stockholm, Sweden},
  organization = {IEEE},
           doi = {10.1109/ICRA.2016.7487406},
         pages = {2521--2526}
}