@article{symbiolcdensemblebasedloopclosure,
  title = {SymbioLCD: Ensemble-Based Loop Closure Detection using CNN-Extracted Objects and Visual Bag-of-Words},
  author = {Jonathan J. Y. Kim and Martin Urschler and Patricia J. Riddle and Jörg S. Wicker},
  year = {2021},
  eprint = {2110.11491},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2110.11491v1},
}