@article{huang2020gmmloc,
	title={GMMLoc: Structure Consistent Visual Localization with Gaussian Mixture Models},
	author={Huang, Huaiyang and Ye, Haoyang and Sun, Yuxiang and Liu, Ming},
	journal={IEEE Robotics and Automation Letters},
	volume={5},
	number={4},
	pages={5043--5050},
	year={2020},
	publisher={IEEE}
}