@article{KirsteinMuellerWaleckiMingersetal.2013,
  author    = {Simon Kirstein and Karsten M{\"u}ller and Mark Walecki-Mingers and Thomas M. Deserno},
  title     = {Robust adaptive flow line detection in sewer pipes},
  journal   = {Automation in construction},
  number    = {21},
  pages     = {24 -- 31},
  doi       = {10.1016/j.autcon.2011.05.009},
  year      = {2013},
}