Bradley, Matthew, and John Zelek. “Evaluating The Affine Grassmanian for First-Pass Histogram Place Recognition”. Journal of Computational Vision and Imaging Systems 8, no. 1 (May 10, 2023): 67–70. Accessed April 18, 2024. https://openjournals.uwaterloo.ca/index.php/vsl/article/view/5381.