Zhou, Kaichen, Changhao Chen, Bing Wang, Muhamad Risqi U. Saputra, Niki Trigoni, and Andrew Markham. “VMLoc: Variational Fusion For Learning-Based Multimodal Camera Localization”. Proceedings of the AAAI Conference on Artificial Intelligence 35, no. 7 (May 18, 2021): 6165-6173. Accessed July 2, 2022. https://ojs.aaai.org/index.php/AAAI/article/view/16767.