# SymbioLCD: Ensemble-Based Loop Closure Detection using CNN-Extracted Objects and Visual Bag-of-Words

> Research article (2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021) · cited 11× · AI/ML

**Wikidata**: [openalex:W3209803594](https://www.wikidata.org/wiki/openalex:W3209803594)  
**Source**: https://4ort.xyz/entity/symbiolcd-ensemble-based-loop-closure-detection-using-cnn-extracted-objects-and-visual-bag-of-words