@misc{schaefer2019long,
  title={Long-Term Urban Vehicle Localization Using Pole Landmarks Extracted from 3-D Lidar Scans},
  author={Alexander Schaefer and Daniel Büscher and Johan Vertens and Lukas Luft and Wolfram Burgard},
  year={2019},
  eprint={1910.10550},
  archivePrefix={arXiv},
  primaryClass={cs.RO},
  doi={10.1109/ECMR.2019.8870928},
  url={https://arxiv.org/abs/1910.10550}
}