Outdoor SLAM using visual appearance and laser ranging
Combining Visual and Spatial Appearance for Loop Closure Detection in SLAM
Histogram Matching and Global Initialization for Laser-only SLAM in Large Unstructured Environments
A New Approach for Large-Scale Localization and Mapping: Hybrid Metric-Topological SLAM
Robot Pose Estimation in Unknown Environments by Matching 2D Range Scans
BoRF: Loop-closure detection with scale invariant visual features