BoW3D: Bag of Words for Real-Time Loop Closing in 3D LiDAR SLAM.
Yunge CuiXieyuanli ChenYinlong ZhangJiahua DongQingxiao WuFeng ZhuPublished in: IEEE Robotics Autom. Lett. (2023)
Keyphrases
- bag of words
- loop closing
- real time
- simultaneous localization and mapping
- mobile robot
- visual words
- image classification
- text classification
- image representation
- action recognition
- visual odometry
- n gram
- document representation
- dynamic environments
- outdoor environments
- topological map
- high resolution
- indoor environments
- object retrieval
- real environment
- vision system
- particle filter
- kalman filter
- data association
- feature extraction
- mean shift