Gradient Vector Griding: An Approach to Shape-Based Object Detection in RoboCup Scenarios. - Hamid Reza Moballegh; Naja von Schmude; Raúl Rojas 001 (RoboCup, 2011)

Relative Pose Estimation from Straight Lines Using Optical Flow-Based Line Matching and Parallel Line Clustering. - Naja von Schmude; Pierre Lothe; Jonas Witt; Bernd Jähne (VISIGRAPP (Revised Selected Papers), 2016)

Relative Pose Estimation from Straight Lines using Parallel Line Clustering and its Application to Monocular Visual Odometry. - Naja von Schmude; Pierre Lothe; Bernd Jähne (VISIGRAPP (3: VISAPP), 2016)

Visual localization with lines. - Naja von Schmude (2017)