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From Coarse to Fine: Robust Hierarchical Localization at La..:

, In: 2019 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR),
Sarlin, Paul-Edouard ; Cadena, Cesar ; Siegwart, Roland. - p. 12708-12717 , 2019
Link: https://doi.org/10.1109/CVPR.2019.01300