Fan, Zhaoxin, Zhenbo Song, Hongyan Liu, Zhiwu Lu, Jun He, and Xiaoyong Du. 2022. “SVT-Net: Super Light-Weight Sparse Voxel Transformer for Large Scale Place Recognition”. Proceedings of the AAAI Conference on Artificial Intelligence 36 (1):551-60. https://doi.org/10.1609/aaai.v36i1.19934.