@inproceedings{icra14_place_recognition,
  title={Condition-invariant, top-down visual place recognition},
  author={Milford, Michael and Scheirer, Walter and Vig, Eleonora and Glover, Arren and Baumann, Oliver and Mattingley, Jason and Cox, David},
  booktitle={2014 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={5571--5577},
  year={2014},
  organization={IEEE}
}