# Beyond Holistic Descriptors, Keypoints, and Fixed Patches: Multiscale Superpixel Grids for Place Recognition in Changing Environments

> Research article (IEEE Robotics and Automation Letters, 2016) · cited 41× · AI/ML

**Wikidata**: [openalex:W2291826042](https://www.wikidata.org/wiki/openalex:W2291826042)  
**Source**: https://4ort.xyz/entity/beyond-holistic-descriptors-keypoints-and-fixed-patches-multiscale-superpixel-grids-for-place-recognition-in-changing-en