@misc{rottmann2019loop,
  title={Loop Closure Detection in Closed Environments},
  author={Nils Rottmann and Ralf Bruder and Achim Schweikard and Elmar Rueckert},
  year={2019},
  eprint={1908.04558},
  archivePrefix={arXiv},
  primaryClass={cs.RO},
  url={https://arxiv.org/abs/1908.04558}
}