@inproceedings{ye20213d,
  title={3D Surfel Map-Aided Visual Relocalization with Learned Descriptors},
  author={Ye, Haoyang and Huang, Huaiyang and Hutter, Marco and Sandy, Timothy and Liu, Ming},
  booktitle={2021 International Conference on Robotics and Automation (ICRA)},
  year={2021},
  organization={IEEE}
}