DarkLoc+: Thermal Image-Based Indoor Localization for Dark Environments With Relative Geometry Constraints. - Baoding Zhou; Yufeng Xiao; Qing Li 029; Chao Sun; Bing Wang 013; Longmin Pan; Dejin Zhang; Jiasong Zhu; Qingquan Li (IEEE Trans. Geosci. Remote. Sens., 2024)