BoW3D: Bag of Words for Real-time Loop Closing in 3D LiDAR SLAM.
Yunge CuiYinlong ZhangXieyuanli ChenJiahua DongQingxiao WuFeng ZhuPublished in: CoRR (2022)
Keyphrases
- bag of words
- loop closing
- real time
- simultaneous localization and mapping
- mobile robot
- visual words
- image classification
- text classification
- action recognition
- image representation
- n gram
- visual odometry
- document representation
- indoor environments
- outdoor environments
- vision system
- loop closure
- spatial pyramid
- real world
- topological map
- machine learning
- real environment
- mobile robotics
- robot navigation
- scene classification
- high resolution
- spatial pyramid matching
- kalman filter
- dynamic environments