@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}}