@article {11573/944486, title = {{Visual localization and loop closing using decision trees and binary features}}, volume = {{2016}}, number = {{False}}, year = {2016}, pages = {4616-4623}, keywords = {Computer Science Applications1707 Computer Vision and Pattern Recognition, localization, Place Recognition, Robot vision}, {1707}, doi = {{10.1109/IROS.2016.7759679}}, author = {Schlegel, Dominik and Grisetti, Giorgio} }