@article{directmonocularodometryusingpointsand,
  title = {Direct Monocular Odometry Using Points and Lines},
  author = {Shichao Yang and Sebastian Scherer},
  year = {2017},
  eprint = {1703.06380},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1703.06380v1},
}