@misc{sarlin2018from,
  title={From Coarse to Fine: Robust Hierarchical Localization at Large Scale},
  author={Paul-Edouard Sarlin and Cesar Cadena and Roland Siegwart and Marcin Dymczyk},
  year={2018},
  eprint={1812.03506},
  archivePrefix={arXiv},
  primaryClass={cs.CV},
  url={https://arxiv.org/abs/1812.03506}
}