@article{ahierarchicaldualmodelofenvironmentand,
  title = {A Hierarchical Dual Model of Environment- and Place-Specific Utility for Visual Place Recognition},
  author = {Nikhil Varma Keetha and Michael Milford and Sourav Garg},
  year = {2021},
  eprint = {2107.02440},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2107.02440v1},
}