@article{zhuang2019degeneracy,
  title={Degeneracy in Self-Calibration Revisited and a Deep Learning Solution for Uncalibrated SLAM},
  author={Zhuang, Bingbing and Tran, Quoc-Huy and Ji, Pan and Lee, Gim Hee and Cheong, Loong-Fah and Chandraker, Manmohan},
  journal={arXiv preprint arXiv:1907.13185},
  year={2019}
}