@inproceedings {tipaldi13icra,
	author = {Tipaldi, Gian Diego and Spinello, Luciano and Burgard, Wolfram},
	title = {{Geometrical FLIRT Phrases for Large Scale Place Recognition in 2D Range Data}},
	booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
	year = {2013}
}