@article{monoculardirectsparselocalizationina,
  title = {Monocular Direct Sparse Localization in a Prior 3D Surfel Map},
  author = {Haoyang Ye and Huaiyang Huang and Ming Liu},
  year = {2020},
  eprint = {2002.09923},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2002.09923v1},
}