@inproceedings{longtermvisualmapsparsificationwith,
  title = {Long-term Visual Map Sparsification with Heterogeneous GNN},
  author = {Ming-Fang Chang and Yipu Zhao and Rajvi Shah and Jakob J. Engel and Michael Kaess and Simon Lucey},
  year = {2022},
  booktitle = {CVPR 2022 1},
  eprint = {2203.15182},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2203.15182v1},
}