@article{realtimergbdcameraposeestimationin,
  title = {Real-Time RGB-D Camera Pose Estimation in Novel Scenes using a Relocalisation Cascade},
  author = {Tommaso Cavallari and Stuart Golodetz and Nicholas A. Lord and Julien Valentin and Victor A. Prisacariu and Luigi Di Stefano and Philip H. S. Torr},
  year = {2018},
  eprint = {1810.12163},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/1810.12163v2},
}