Relocalization With Submaps: Multi-Session Mapping for Planetary Rovers Equipped With Stereo Cameras.
Riccardo GiubilatoMallikarjuna VayugundlaMartin J. SchusterWolfgang StürzlArmin WedlerRudolph TriebelStefano DebeiPublished in: IEEE Robotics Autom. Lett. (2020)