@inproceedings{stueckler-robotik08, title = {In-lane Localization in Road Networks using Curbs Detected in Omnidirectional Height Images }, author = {Stueckler, J. and Schulz, H. and Behnke, S.}, booktitle = {Proceedings of Robotik 2008}, year = {2008}, doi = {}, url = {http://www.ais.uni-bonn.de/papers/robotik08.pdf} }