@article{originalloopclosuredetectionalgorithmfor,
  title = {Original Loop-closure Detection Algorithm for Monocular vSLAM},
  author = {Andrey Bokovoy and Konstantin Yakovlev},
  year = {2017},
  eprint = {1707.04771},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1707.04771v1},
}