@inproceedings{ye2020monocular,
  title={Monocular Direct Sparse Localization in a Prior 3D Surfel Map},
  author={Ye, Haoyang and Huang, Huaiyang and Liu, Ming},
  booktitle={2020 International Conference on Robotics and Automation (ICRA)},
  year={2020},
  organization={IEEE}
}