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@inproceedings{yan2021soe,
 author = {Y. Xia and Y. Xu and S. Li and R. Wang and J. Du and D. Cremers and U. Stilla},
 title = {SOE-Net: A Self-Attention and Orientation Encoding Network for Point Cloud based Place Recognition},
 booktitle = {IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
 year = {2021},
 award = {Oral Presentation},
 keywords = {SLAM, localization, re-localization, 3D learning, dh3d, vslam, deep learning},
}