@InProceedings{	  schaefer18iros,
  author	= {Alexander Schaefer and Daniel B{\"u}scher and Lukas Luft
		  and Wolfram Burgard},
  booktitle	= {IEEE/RSJ International Conference on Intelligent Robots
		  and Systems (IROS)},
  title		= {A Maximum Likelihood Approach to Extract Polylines from
		  2-{D} Laser Range Scans},
  year		= {2018},
  month		= {October},
  pages		= {4766-4773},
  doi		= {10.1109/IROS.2018.8593844},
  url		= {http://ais.informatik.uni-freiburg.de/publications/papers/schaefer18iros.pdf}
}