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@ARTICLE{gomez2019pss,
    author = {Gomez-Ojeda, Ruben and Moreno, Francisco-Angel and Zuñiga-Noël, David and Scaramuzza, Davide and Gonzalez-Jimenez, Javier},
     month = {{{{jun}}}},
     title = {PL-SLAM: a Stereo SLAM System Through the Combination of Points and Line Segments},
   journal = {IEEE Transactions on Robotics},
    volume = {35},
    number = {3},
      year = {2019},
      issn = {1552-3098},
       url = {https://ieeexplore.ieee.org/abstract/document/8680013},
       doi = {10.1109/TRO.2019.2899783},
     pages = {734--746}
}