@article{whatmakesvisualplacerecognitioneasyor,
  title = {What makes visual place recognition easy or hard?},
  author = {Stefan Schubert and Peer Neubert},
  year = {2021},
  eprint = {2106.12671},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2106.12671v1},
}