@ARTICLE{Fu-CVIU-2019, author = {J. Fu and S. Pertuz and J. Matas and J.-K. K{\"a}m{\"a}r{\"a}inen}, title = {Performance Analysis of Single-query 6-DoF Camera Pose Estimation in Self-Driving Setups}, journal = {Computer Vision and Image Understanding}, OPTvolume = {66}, OPTnumber = {June}, year = {2019}, OPTpages = {74--81}, doi = {10.1016/j.cviu.2019.04.009}, url = {https://arxiv.org/pdf/1808.05848.pdf}, code = {https://github.com/JunshengFu/camera-pose-estimation} }