Media type: E-Article Title: Lightweight Structured Line Map Based Visual Localization Contributor: Liu, Hongmin; Cao, Chengyang; Ye, Hanqiao; Cui, Hainan; Gao, Wei; Wang, Xing; Shen, Shuhan imprint: Institute of Electrical and Electronics Engineers (IEEE), 2024 Published in: IEEE Robotics and Automation Letters Language: Not determined DOI: 10.1109/lra.2024.3387137 ISSN: 2377-3766; 2377-3774 Origination: Footnote: