@phdthesis {vonschmude2017,
	title = {Visual Localization with Lines},
	volume = {Dissertation},
	year = {2017},
	publisher = {IWR, Univ. Heidelberg},
	type = {phd},
	doi = {10.11588/heidok.00023524},
	author = {Najy von Schmude}
}
