@INPROCEEDINGS{Derner2021ChangeDetectionUsing, author = {Derner, E. and G{\'o}mez, C. and Hern{\'a}ndez, A. C. and Barber, R. and Babu{\v s}ka, R.}, title = {Change Detection Using Weighted Features for Image-Based Localization}, journal = {Robotics and Autonomous Systems}, volume = {135}, number = {}, pages = {103676}, year = {2021} }