@article{longtermvisuallocalizationusing,
  title = {Long-term Visual Localization using Semantically Segmented Images},
  author = {Erik Stenborg and Carl Toft and Lars Hammarstrand},
  year = {2018},
  eprint = {1801.05269},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1801.05269v2},
}