@article{robustandgloballyoptimalmanhattanframe,
  title = {Robust and Globally Optimal Manhattan Frame Estimation in Near Real Time},
  author = {Kyungdon Joo and Tae-Hyun Oh and Junsik Kim and In So Kweon},
  year = {2016},
  eprint = {1605.03730},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1605.03730v2},
}