@article{scenecoordinateregressionwithanglebased,
  title = {Scene Coordinate Regression with Angle-Based Reprojection Loss for Camera Relocalization},
  author = {Xiaotian Li and Juha Ylioinas and Jakob Verbeek and Juho Kannala},
  year = {2018},
  eprint = {1808.04999},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1808.04999v2},
}