@article{realtimecnnbasedkeypointdetectorwith,
  title = {Realtime CNN-based Keypoint Detector with Sobel Filter and CNN-based Descriptor Trained with Keypoint Candidates},
  author = {Xun Yuan and Ke Hu and Song Chen},
  year = {2020},
  eprint = {2011.02119},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2011.02119v1},
}