These references are about key matching methods of panoramas images in forward and backward direction for visual route recognition in brain inspired navigation.

Milford Michael. “Visual route recognition with a handful of bits.” Proc. 2012 Robotics: Science and Systems VIII (2012): 297-304.

Milford Michael and Wyeth Gordon. Persistent navigation and mapping using a biologically inspired SLAM system. The International Journal of Robotics Research, 29(9), 2010, pp.1131-1153.

Milford Michael, and Wyeth Gordon. “SeqSLAM: Visual route-based navigation for sunny summer days and stormy winter nights.” In Robotics and Automation (ICRA), 2012 IEEE International Conference on, pp. 1643-1649. IEEE, 2012.

Pepperell, Edward, Peter Corke, and Michael Milford. “Routed roads: Probabilistic vision-based place recognition for changing conditions, split streets and varied viewpoints.” The International Journal of Robotics Research 35, no. 9 (2016): 1057-1179.

Ben Talbot, Sourav Garg, Michael Milford. OpenSeqSLAM2.0: An Open Source Toolbox for Visual Place Recognition Under Changing Conditions. 2018. https://arxiv.org/abs/1804.02156

OpenSeqSLAM2.0 source code. https://www.dropbox.com/sh/opft9mc10qauh6e/AAAG1AMY491dFZfMqpM7MGnba?dl=0