@article{4seasonsbenchmarkingvisualslamandlong,
  title = {4Seasons: Benchmarking Visual SLAM and Long-Term Localization for Autonomous Driving in Challenging Conditions},
  author = {Patrick Wenzel and Nan Yang and Rui Wang and Niclas Zeller and Daniel Cremers},
  year = {2022},
  eprint = {2301.01147},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2301.01147v1},
}