@article{reducingdriftinvisualodometryby,
  title = {Reducing Drift in Visual Odometry by Inferring Sun Direction Using a Bayesian Convolutional Neural Network},
  author = {Valentin Peretroukhin and Lee Clement and Jonathan Kelly},
  year = {2016},
  eprint = {1609.05993},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/1609.05993v5},
}