Real-Time {RGB-D} Camera Relocalization via Randomized Ferns for KeyframeEncoding 2015 (1) Ben Glocker andJamie Shotton andAntonio Criminisi andShahram Izadi, Real-Time RGB-D Camera Relocalization via Randomized Ferns for KeyframeEncoding, IEEE Trans. Vis. Comput. Graph., volume 21, pp.571–583, 2015