# Robust visual semi-semantic loop closure detection by a covisibility graph and CNN features

> Research article (Robotics and Autonomous Systems, 2017) · cited 48× · AI/ML

**Wikidata**: [openalex:W2593628818](https://www.wikidata.org/wiki/openalex:W2593628818)  
**Source**: https://4ort.xyz/entity/robust-visual-semi-semantic-loop-closure-detection-by-a-covisibility-graph-and-cnn-features