@inproceedings{topologicalmapconstructionandscene,
  title = {Topological map construction and scene recognition for vehicle localization},
  author = {Huei-Yung Lin},
  year = {2018},
  booktitle = {Conference 2018 1},
  url = {https://link.springer.com/article/10.1007%2Fs10514-017-9638-9#Sec2},
}