@article {schlegel2018hbst,
	title = {HBST: A hamming distance embedding binary search tree for feature-based visual place recognition},
	journal = {IEEE Robotics and Automation Letters},
	volume = {3},
	number = {4},
	year = {2018},
	pages = {3741{\textendash}3748},
	publisher = {IEEE},
	author = {Schlegel, Dominik and Grisetti, Giorgio}
}
