@article{probabilisticvisualplacerecognitionfor,
  title = {Probabilistic Visual Place Recognition for Hierarchical Localization},
  author = {Ming Xu and Niko Sünderhauf and Michael Milford},
  year = {2021},
  eprint = {2105.03091},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2105.03091v1},
}