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If you use the 4Seasons Dataset please use the following citation:
@inproceedings{wenzel2020fourseasons, author = {P. Wenzel and R. Wang and N. Yang and Q. Cheng and Q. Khan and L. von Stumberg and N. Zeller and D. Cremers}, title = {{4Seasons}: A Cross-Season Dataset for Multi-Weather {SLAM} in Autonomous Driving}, booktitle = {Proceedings of the German Conference on Pattern Recognition ({GCPR})}, year = {2020} }