@article{contourcontextabstractstructural,
  title = {Contour Context: Abstract Structural Distribution for 3D LiDAR Loop Detection and Metric Pose Estimation},
  author = {Binqian Jiang and Shaojie Shen},
  year = {2023},
  eprint = {2302.06149},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2302.06149v1},
}