@inproceedings{fromcoarsetofinerobusthierarchical,
  title = {From Coarse to Fine: Robust Hierarchical Localization at Large Scale},
  author = {Paul-Edouard Sarlin and Cesar Cadena and Roland Siegwart and Marcin Dymczyk},
  year = {2018},
  booktitle = {CVPR 2019 6},
  eprint = {1812.03506},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1812.03506v2},
}