BoW3D: Bag of Words for Real-Time Loop Closing in 3D LiDAR SLAM. (arXiv:2208.07473v2 [cs.CV] UPDATED)

Loop closing is a fundamental part of simultaneous localization and mapping
(SLAM) for autonomous mobile systems. In the field of visual SLAM, bag of words
(BoW) has achieved great success in loop closure. The BoW features for loop
searching can also be used in the subsequent 6-DoF loop correction. However,
for 3D LiDAR SLAM, the state-of-the-art methods may fail to effectively
recognize the loop in real time, and usually cannot correct the full 6-DoF loop
pose. To address this limitation, …

arxiv bag bag of words lidar loop real-time slam words