@article{loopclosuredetectionbasedonobjectlevel,
  title = {Loop Closure Detection Based on Object-level Spatial Layout and Semantic Consistency},
  author = {Xingwu Ji and Peilin Liu and Haochen Niu and Xiang Chen and Rendong Ying and Fei Wen},
  year = {2023},
  eprint = {2304.05146},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2304.05146v2},
}