@ARTICLE{9788021,
  author={Yu, Yang and Yun, Peng and Xue, Bohuan and Jiao, Jianhao and Fan, Rui and Liu, Ming},
  journal={IEEE/ASME Transactions on Mechatronics}, 
  title={Accurate and Robust Visual Localization System in Large-Scale Appearance-Changing Environments}, 
  year={2022},
  volume={},
  number={},
  pages={1-11},
  doi={10.1109/TMECH.2022.3177237}}