Robust visual semi-semantic loop closure detection by a covisibility graph and CNN features

Citation:

Cascianelli, Silvia; Costante, Gabriele; Bellocchio, Enrico; Valigi, Paolo; Fravolini, Mario L; Ciarfuglia, Thomas A "Robust visual semi-semantic loop closure detection by a covisibility graph and CNN features" ROBOTICS AND AUTONOMOUS SYSTEMS, vol. 92, pp. 53 -65 , 2017 DOI: 10.1016/j.robot.2017.03.004

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• DOI: 10.1016/j.robot.2017.03.004