@article{yu2022accurate,
  title={Accurate and robust visual localization system in large-scale appearance-changing environments},
  author={Yu, Yang and Yun, Peng and Xue, Bohuan and Jiao, Jianhao and Fan, Rui and Liu, Ming},
  journal={IEEE/ASME Transactions on Mechatronics},
  volume={27},
  number={6},
  pages={5222--5232},
  year={2022},
  publisher={IEEE}
}