@inproceedings{longterm3dlocalizationandposefrom,
  title = {Long-term 3D Localization and Pose from Semantic Labellings},
  author = {Carl Toft1 and Carl Olsson1;2 and Fredrik Kahl1;2},
  year = {2017},
  booktitle = {ICCV 2017 8},
  url = {https://ieeexplore.ieee.org/document/8265292},
}