@article{bidirectionalloopclosureforvisualslam,
  title = {Bi-directional Loop Closure for Visual SLAM},
  author = {Ihtisham Ali and Sari Peltonen and Atanas Gotchev},
  year = {2022},
  eprint = {2204.01524},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2204.01524v1},
}