@article{Paton2017,
  title = {Expanding the Limits of Vision-based Localization for Long-term Route-following Autonomy},
  journal = {Journal of Field Robotics},
  year = {2017},
  volume = {34},
  number = {1},
  pages = {98-122},
  author = {Paton, M. and Pomerleau, F. and MacTavish, K. and Ostafew, C.J. and Barfoot, T.D.}
}