@article{beyondsiftusingbinaryfeaturesforloop,
  title = {Beyond SIFT using Binary features for Loop Closure Detection},
  author = {Lei Han and Guyue Zhou and Lan Xu and Lu Fang},
  year = {2017},
  eprint = {1709.05833},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1709.05833v1},
}