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![PDF] GN-Net: The Gauss-Newton Loss for Multi-Weather Relocalization | Semantic Scholar](https://d3i71xaburhd42.cloudfront.net/513bc5e5666e3e98652f8af6aa52a7da2b6f41b1/2-Figure1-1.png "PDF] GN-Net: The Gauss-Newton Loss for Multi-Weather Relocalization | Semantic Scholar")