This directory contains data associated with our CVPR 2019 paper [From Coarse to Fine: Robust Hierarchical Localization at Large Scale](https://arxiv.org/abs/1812.03506). We include the SfM models of SuperPoint/HF-Net, as well as the TensorFlow inference model of HF-Net. The code and instructions are available at [https://github.com/ethz-asl/hfnet](https://github.com/ethz-asl/hfnet).

Please consider citing the corresponding publication if you use this data in an academic context:
```
@inproceedings{sarlin2019coarse,
  title={From Coarse to Fine: Robust Hierarchical Localization at Large Scale},
  author={Sarlin, P.-E. and Cadena, C. and Siegwart, R. and Dymczyk, M.},
  article={CVPR},
  year={2019}
}
```