@article{0b2c353d4e984075b191b4690dc03d29,
title = "Accurate real-time visual SLAM combining building models and GPS for mobile robot",
keywords = "Building models, Graph optimization, Multimodal fusion, Robot localization",
author = "Ruyu Liu and Jianhua Zhang and Shengyong Chen and Thomas Yang and Clemens Arth",
note = "Publisher Copyright: {\textcopyright} 2020, Springer-Verlag GmbH Germany, part of Springer Nature.",
year = "2021",
month = apr,
doi = "10.1007/s11554-020-00989-6",
language = "English",
volume = "18",
pages = "419--429",
journal = "Journal of Real-Time Image Processing",
issn = "1861-8200",
publisher = "Springer",
number = "2",
}