@article{simultaneouslocalizationandlayoutmodel,
  title = {Simultaneous Localization and Layout Model Selection in Manhattan Worlds},
  author = {Armon Shariati and Bernd Pfrommer and Camillo J. Taylor},
  year = {2018},
  eprint = {1809.04135},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1809.04135v3},
}