"Chanchang Tsai,Hajime Taira,Masatoshi Okutomi","Learned Visual Localization with Camera Pose Refinement and Verification Based on Differentiable Renderer","IS&T Electronic Imaging (EI2022)","Proceedings of IS&T Electronic Imaging (EI2023)","Society for Imaging Science and Technology","Vol. 35","Issue 7","pp. 102-1 - 102-6",2023,Jan.