@article{scalerobustlocalizationusinggeneral,
  title = {Scale-Robust Localization Using General Object Landmarks},
  author = {Andrew Holliday and Gregory Dudek},
  year = {2017},
  eprint = {1710.10466},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1710.10466v2},
}