Before revision:  Extensive evaluations of LCDNet on multiple real-world autonomous driving datasets show that our approach outperforms state-of-the-art  techniques by a large margin even while dealing with reverse loops.
After revision:  Extensive evaluations of LCDNet on multiple real-world autonomous driving datasets show that our approach outperforms state-of-the-art loop closure detection and point cloud registration techniques by a large margin even while dealing with reverse loops.