@article{huang2021incorporating,
author={Huaiyang Huang and Haoyang Ye and Yuxiang Sun and Lujia Wang and Ming Liu},
title={Incorporating learnt local and global embeddings into monocular visual SLAM},
journal={Autonomous Robots},
volume={45},
number={6},
pages={789-803},
year={2021},
doi={10.1007/s10514-021-10007-8},}