@INPROCEEDINGS{huang2019reliable, 
  author={Huaiyang Huang and Yuxiang Sun and Ming Liu},  
  booktitle={2019 IEEE Intelligent Transportation Systems Conference (ITSC)}, 
  title={Reliable Monocular Ego-Motion Estimation System in Rainy Urban Environments}, 
  year={2019},
  volume={},
  number={},
  pages={1290-1297},
  doi={10.1109/ITSC.2019.8916977}}