@article{Hansen2018, author = "Peter Hansen and Hatem Alismail and Peter Rander and Brett Browning", title = "{Pipe Mapping with Monocular Fisheye Imagery}", year = "2018", month = "6", url = "https://kilthub.cmu.edu/articles/journal_contribution/Pipe_Mapping_with_Monocular_Fisheye_Imagery/6557483", doi = "10.1184/R1/6557483.v1" }