@INPROCEEDINGS{mbuerki2018iv, title={Map Management for Efficient Long-Term Visual Localization in Outdoor Environments}, author={M. Buerki and M. Dymczyk and I. Gilitschenski and C. Cadena and R. Siegwart and J. Nieto}, booktitle = {IEEE Intelligent Vehicles Symposium}, year = {2018}, month = {June}, }