@INPROCEEDINGS{huang2019metric, author={Huaiyang Huang and Yuxiang Sun and Haoyang Ye and Ming Liu}, booktitle={2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, title={Metric Monocular Localization Using Signed Distance Fields}, year={2019}, volume={}, number={}, pages={1195-1201}, doi={10.1109/IROS40897.2019.8968033}}