@ARTICLE{huang2020gmmloc,
  author={Huaiyang Huang and Haoyang Ye and Yuxiang Sun and Ming Liu},
  journal={IEEE Robotics and Automation Letters}, 
  title={GMMLoc: Structure Consistent Visual Localization With Gaussian Mixture Models}, 
  year={2020},
  volume={5},
  number={4},
  pages={5043-5050},
  doi={10.1109/LRA.2020.3005130}}