@InProceedings{Sattler17,
   author = {Sattler, T. and Torii, A. and Sivic, J. and Pollefeys, M. and  Taira, H. and  Okutomi, M. and Pajdla, T.},
   title = {Are Large-Scale 3D Models Really Necessary for Accurate Visual Localization?},
   booktitle = {IEEE Computer Vision and Pattern Recognition (CVPR)}, 
   year = {2017}
}