@inproceedings{song2015fast,
  title={Fast estimation of relative poses for 6-DOF image localization},
  author={Song, Yafei and Chen, Xiaowu and Wang, Xiaogang and Zhang, Yu and Li, Jia},
  booktitle={2015 IEEE International Conference on Multimedia Big Data},
  pages={156--163},
  year={2015},
  organization={IEEE}
}