Li, Y., Yang, Z., Tateno, K., Tombari, F., Zhao, L., & Lee, G. H. (2026). RiemanLine: Riemannian Manifold Representation of 3D Lines for Factor Graph Optimization. Proceedings of the AAAI Conference on Artificial Intelligence, 40(8), 6548–6556. https://doi.org/10.1609/aaai.v40i8.37584