@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} }