@article{visualplacerecognitionwithprobabilistic,
  title = {Visual Place Recognition with Probabilistic Vertex Voting},
  author = {Mathias Gehrig and Elena Stumm and Timo Hinzmann and Roland Siegwart},
  year = {2016},
  eprint = {1610.03548},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1610.03548v2},
}