# How to Train a CAT: Learning Canonical Appearance Transformations for Direct Visual Localization Under Illumination Change

> Research article (IEEE Robotics and Automation Letters, 2018) · cited 26× · AI/ML

**Wikidata**: [openalex:W2756159298](https://www.wikidata.org/wiki/openalex:W2756159298)  
**Source**: https://4ort.xyz/entity/how-to-train-a-cat-learning-canonical-appearance-transformations-for-direct-visual-localization-under-illumination-chang