Outlier Rejection for Absolute Pose Estimation with Known Orientation. - Viktor Larsson; Johan Fredriksson; Carl Toft; Fredrik Kahl (BMVC, 2016)

Long-Term 3D Localization and Pose from Semantic Labellings. - Carl Toft; Carl Olsson; Fredrik Kahl (ICCV Workshops, 2017)

Benchmarking 6DOF Outdoor Visual Localization in Changing Conditions. - Torsten Sattler; Will Maddern; Carl Toft; Akihiko Torii; Lars Hammarstrand; Erik Stenborg; Daniel Safari; Masatoshi Okutomi; Marc Pollefeys; Josef Sivic; Fredrik Kahl; Tomás Pajdla (CVPR, 2018)

Semantic Match Consistency for Long-Term Visual Localization. - Carl Toft; Erik Stenborg; Lars Hammarstrand; Lucas Brynte; Marc Pollefeys; Torsten Sattler; Fredrik Kahl (ECCV (2), 2018)

Long-Term Visual Localization Using Semantically Segmented Images. - Erik Stenborg; Carl Toft; Lars Hammarstrand (ICRA, 2018)

Fine-Grained Segmentation Networks: Self-Supervised Segmentation for Improved Long-Term Visual Localization. - Måns Larsson; Erik Stenborg; Carl Toft; Lars Hammarstrand; Torsten Sattler; Fredrik Kahl (ICCV, 2019)

Single-Image Depth Prediction Makes Feature Matching Easier. - Carl Toft; Daniyar Turmukhambetov; Torsten Sattler; Fredrik Kahl; Gabriel J. Brostow (ECCV (16), 2020)

Back to the Feature: Learning Robust Camera Localization From Pixels To Pose. - Paul-Edouard Sarlin; Ajaykumar Unagar; Måns Larsson; Hugo Germain; Carl Toft; Viktor Larsson; Marc Pollefeys; Vincent Lepetit; Lars Hammarstrand; Fredrik Kahl; Torsten Sattler (CVPR, 2021)

CrowdDriven: A New Challenging Dataset for Outdoor Visual Localization. - Ara Jafarzadeh; Manuel López-Antequera; Pau Gargallo; Yubin Kuang; Carl Toft; Fredrik Kahl; Torsten Sattler (ICCV, 2021)

Azimuthal Rotational Equivariance in Spherical Convolutional Neural Networks. - Carl Toft; Georg Bökman; Fredrik Kahl (ICPR, 2022)

Long-Term Visual Localization Revisited. - Carl Toft; Will Maddern; Akihiko Torii; Lars Hammarstrand; Erik Stenborg; Daniel Safari; Masatoshi Okutomi; Marc Pollefeys; Josef Sivic; Tomás Pajdla; Fredrik Kahl; Torsten Sattler (IEEE Trans. Pattern Anal. Mach. Intell., 2022)