Learn then match: A fast coarse-to-fine depth image-based indoor localization framework for dark environments via deep learning and keypoint-based geometry alignment - Qing Li; Rui Cao; Jiasong Zhu; Hao Fu; Baoding Zhou; Xu Fang; Sen Jia; Shenman Zhang; Kanglin Liu; Qingquan Li (ISPRS Journal of Photogrammetry and Remote Sensing, 2023)