@phdthesis{schaefer2020phd,
  author	= {Alexander Schaefer}, 
  title		= {Highly Accurate Lidar-Based Mapping and Localization for Mobile Robots},
  school	= {University of Freiburg, Department of Computer Science},
  year		= {2020},
  month		= {March},
  doi		= {https://doi.org/10.6094/UNIFR/155154},
  url		= {https://freidok.uni-freiburg.de/data/155154}
}