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)

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)

Matrix-Free Shared Intrinsics Bundle Adjustment. - Daniel Safari (CVPR, 2025)