@InProceedings{	  schaefer19ecmr,
  author	= {Alexander Schaefer and Daniel B{\"u}scher and Johan
		  Vertens and Lukas Luft and Wolfram Burgard},
  booktitle	= {European Conference on Mobile Robots (ECMR)},
  title		= {Long-Term Urban Vehicle Localization Using Pole Landmarks
		  Extracted from 3-{D} Lidar Scans},
  month		= {September},
  year		= {2019},
  pages		= {1-7},
  doi		= {10.1109/ECMR.2019.8870928},
  url		= {http://ais.informatik.uni-freiburg.de/publications/papers/schaefer19ecmr.pdf}
}