# ESA-VLAD: A Lightweight Network Based on Second-Order Attention and NetVLAD for Loop Closure Detection

> Research article (IEEE Robotics and Automation Letters, 2021) · cited 32× · AI/ML

**Wikidata**: [openalex:W3179808469](https://www.wikidata.org/wiki/openalex:W3179808469)  
**Source**: https://4ort.xyz/entity/esa-vlad-a-lightweight-network-based-on-second-order-attention-and-netvlad-for-loop-closure-detection