Before revision:  In this way, we fuse the structural features and visual features in the consistent bird-eye view frame, yielding a semantic feature representationwith sensible geometry , namely CORAL.  Comparisons on the Oxford RobotCar show that CORAL has superior performance against other state-of-the-art methods.
After revision:  In this way, we fuse the structural features and visual features in the consistent bird-eye view frame, yielding a semantic feature representationwith sensible geometry , namely CORAL. And the whole network is called CORAL-VLAD. Comparisons on the Oxford RobotCar show that CORAL has superior performance against other state-of-the-art methods.