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 "citation": "@article{LI2021187,\n    title = {ULSD: Unified line segment detection across pinhole, fisheye, and spherical cameras},\n    author = {Hao Li and Huai Yu and Jinwang Wang and Wen Yang and Lei Yu and Sebastian Scherer},\n    journal = {ISPRS Journal of Photogrammetry and Remote Sensing},\n    volume = {178},\n    pages = {187-202},\n    year = {2021},\n}",
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