  In this paper, we propose an efficient algorithm for robust place recognition
and loop detection using camera information only. Our pipeline purely relies on
spatial localization and semantic information of road markings. The creation of
the database of road markings sequences is performed online, which makes the
method applicable for real-time loop closure for visual SLAM techniques.
Furthermore, our algorithm is robust to various weather conditions, occlusions
from vehicles, and shadows. We have performed an extensive number of
experiments which highlight the effectiveness and scalability of the proposed
method.
