@article{cvxpnplaunifiedconvexsolutiontothe,
  title = {CvxPnPL: A Unified Convex Solution to the Absolute Pose Estimation Problem from Point and Line Correspondences},
  author = {Sérgio Agostinho and João Gomes and Alessio Del Bue},
  year = {2019},
  eprint = {1907.10545},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/1907.10545v2},
}