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@inproceedings{Callmer08,
    author = "Callmer, Jonas and Granstr{\"{o}}m, Karl and Nieto, Juan and Ramos, Fabio",
    title = "Tree of Words for Visual Loop Closure Detection in Urban SLAM",
    year = "2008",
    month = Dec,
    address = "Canberra, Australia",
    booktitle = "Proceedings of the Australasian Conference on Robotics and Automation",
}