@article{lowlatencyvisualslamwithappearance,
  title = {Low-latency Visual SLAM with Appearance-Enhanced Local Map Building},
  author = {Yipu Zhao and Wenkai Ye and Patricio A. Vela},
  year = {2019},
  eprint = {1905.07797},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/1905.07797v1},
}