@ARTICLE{9721060,
  author={Zhang, Tianyi and Johnson-Roberson, Matthew},
  journal={IEEE Robotics and Automation Letters}, 
  title={Learning Cross-Scale Visual Representations for Real-Time Image Geo-Localization}, 
  year={2022},
  volume={7},
  number={2},
  pages={5087-5094},
  doi={10.1109/LRA.2022.3154035}}