LocalSPED: A Classification Pipeline that Can Learn Local Features for Place Recognition Using a Small Training Set. - Fangming Yuan; Peer Neubert; Peter Protzel (TAROS, 2020)

SoftMP: Attentive feature pooling for joint local feature detection and description for place recognition in changing environments. - Fangming Yuan; Peer Neubert; Stefan Schubert; Peter Protzel (ICRA, 2021)

Local Positional Graphs and Attentive Local Features for a Data and Runtime-Efficient Hierarchical Place Recognition Pipeline. - Fangming Yuan; Stefan Schubert; Peter Protzel; Peer Neubert (IEEE Robotics Autom. Lett., 2024)