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@INPROCEEDINGS{GomezIROS16,
        author = {Gomez-Ojeda, Ruben and Briales, Jesus and Gonzalez-Jimenez, Javier},
         title = {PL-SVO: Semi-Direct Monocular Visual Odometry by Combining Points and Line Segments},
     booktitle = {Int. Conf. on Intelligent Robots and Systems (IROS)},
          year = {2016},
      location = {Daejeon, Korea},
  organization = {IEEE/RSJ},
           doi = {10.1109/IROS.2016.7759620},
         pages = {4211--4216}
}