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  _  _    _    _   __    __    ______   __   _   
 | \| || | || | || \ \\ / //  /_   _// | || | || 
 |  ' || | || | ||  \ \/ //    -| ||-  | '--' || 
 | .  || | \\_/ ||   \  //     _| ||_  | .--. || 
 |_|\_||  \____//     \//     /_____// |_|| |_|| 
 `-` -`    `---`       `      `-----`  `-`  `-`

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Text this: Robust loop closure by textual cues in challenging environments