E.  Brachmann, Krull, A., Nowozin, S., Shotton, J., Michel, F., Gumhold, S., and Rother, C., ?DSAC - Differentiable RANSAC for camera localization?, in Proceedings - 30th IEEE Conference on Computer Vision and Pattern Recognition, CVPR 2017, 2017, vol. 2017-Janua, pp. 2492?2500.