@inproceedings{Xie_2022, title={Fast Structural Representation and Structure-aware Loop Closing for Visual SLAM}, url={http://dx.doi.org/10.1109/IROS47612.2022.9981496}, DOI={10.1109/iros47612.2022.9981496}, booktitle={2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, publisher={IEEE}, author={Xie, Shuxiang and Ishikawa, Ryoichi and Sakurada, Ken and Onishi, Masaki and Oishi, Takeshi}, year={2022}, month=Oct, pages={6396–6403} }