Haifeng Li 0008 Hongpeng Wang 0001 Jingtai Liu Error aware multiple vertical planes based visual localization for mobile robots in urban environments. 1-14 2015 58 Sci. China Inf. Sci. 3 https://doi.org/10.1007/s11432-014-5229-y db/journals/chinaf/chinaf58.html#LiWL15