@article{airlooplifelongloopclosuredetection,
  title = {AirLoop: Lifelong Loop Closure Detection},
  author = {Dasong Gao and Chen Wang and Sebastian Scherer},
  year = {2021},
  eprint = {2109.08975},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2109.08975v3},
}