Han Wang 0001 Juncheng Li 0002 Maopeng Ran Lihua Xie 0001 Fast Loop Closure Detection via Binary Content. 1563-1568 2019 ICCA https://doi.org/10.1109/ICCA.2019.8899937 conf/icca/2019 db/conf/icca/icca2019.html#Wang0RX19