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STD: Stable Triangle Descriptor for 3D place recognition:

, In: 2023 IEEE International Conference on Robotics and Automation (ICRA),
Yuan, Chongjian ; Lin, Jiarong ; Zou, Zuhao.. - p. 1897-1903 , 2023
Link: https://doi.org/10.1109/ICRA48891.2023.10160413