@article{s3egnnsparsespatialsceneembeddingwith,
  title = {S3E-GNN: Sparse Spatial Scene Embedding with Graph Neural Networks for Camera Relocalization},
  author = {Ran Cheng and Xinyu Jiang and Yuan Chen and Lige Liu and Tao Sun},
  year = {2022},
  eprint = {2205.05861},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2205.05861v1},
}