@article{optimizationbeyondtheconvolution,
  title = {Optimization Beyond the Convolution: Generalizing Spatial Relations with End-to-End Metric Learning},
  author = {Philipp Jund and Andreas Eitel and Nichola Abdo and Wolfram Burgard},
  year = {2017},
  eprint = {1707.00893},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/1707.00893v4},
}