@article{egonnegocentricneuralnetworkforpoint,
  title = {EgoNN: Egocentric Neural Network for Point Cloud Based 6DoF Relocalization at the City Scale},
  author = {Jacek Komorowski and Monika Wysoczanska and Tomasz Trzcinski},
  year = {2021},
  eprint = {2110.12486},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2110.12486v1},
}