相关论文：Kendall A, Grimes M, Cipolla R. Convolutional networks for real-time 6-DOF camera relocalization[J]. Education for Information, 2015, 31:125-141.论文地址：https://arxiv.org/pdf/1505.07427.pdf
J. Shotton, B. Glocker, C. Zach, S. Izadi, A. Criminisi, and A. Fitzgibbon. Scene coordinate regression forests for camera relocalization in RGB-D images. In Computer Vision andPatternRecognition(CVPR),2013IEEEConferenceon, pages 2930–2937. IEEE, 2013.J.
作者的主页：https://alexgkendall.com/ ，主页上有作者近两年在该领域的研究进展
在线验证demo: mi.eng.cam.ac.uk/projects/relocalisation/