@inproceedings {toft2017long,
	title = {Long-term 3d localization and pose from semantic labellings},
	booktitle = {Proceedings of the IEEE International Conference on Computer Vision Workshops},
	year = {2017},
	pages = {650{\textendash}659},
	author = {Toft, Carl and Olsson, Carl and Kahl, Fredrik}
}
