@article{agawel2018ral,
  title={{X-View: Graph-Based Semantic Multiview Localization}},
  author={A. Gawel and C. D. Don and R. Siegwart and J. Nieto and C. Cadena},
journal={IEEE Robotics and Automation Letters},
volume={3},
number={3},
pages={1687-1694}, 
}