@inproceedings{zhuang2019degeneracy,
  title={Degeneracy in Self-Calibration Revisited and a Deep Learning Solution for Uncalibrated SLAM},
  author={Zhuang, Bingbing and Tran, Quoc-Huy and Lee, Gim Hee and Cheong, Loong Fah and Chandraker, Manmohan},
  booktitle={2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={3766--3773},
  year={2019},
  organization={IEEE}
}