@inproceedings{Finman14icraw,
  author =       {R. Finman and T. Whelan and L. Paull and
                  J. J. Leonard},
  title =        {Physical Words for Place Recognition in Dense
                  {RGB-D} Maps},
  booktitle =    {{ICRA} workshop on visual place recognition in
                  changing environments},
  month =        jun,
  year =         2014
}