BoW3D: Bag of Words for Real-Time Loop Closing in 3D LiDAR SLAM

v1v2 (latest)

BoW3D: Bag of Words for Real-Time Loop Closing in 3D LiDAR SLAM

15 August 2022

Xieyuanli Chen

ArXiv (abs)PDF HTML Github (300★)

Papers citing "BoW3D: Bag of Words for Real-Time Loop Closing in 3D LiDAR SLAM"

17 / 17 papers shown

Title
Why Sample Space Matters: Keyframe Sampling Optimization for LiDAR-based Place Recognition Nikolaos Stathoulopoulos Vidya Sumathy Christoforos Kanellakis G. Nikolakopoulos 107 1 0 20 Feb 2025
LinK3D: Linear Keypoints Representation for 3D LiDAR Point Cloud Yunge Cui Yinlong Zhang Jiahua Dong Haibo Sun Xieyuanli Chen Feng Zhu 3DPC 60 39 0 13 Jun 2022
OverlapTransformer: An Efficient and Rotation-Invariant Transformer Network for LiDAR-Based Place Recognition Junyi Ma Jun Zhang Jintao Xu Rui Ai Weihao Gu Xieyuanli Chen ViT 3DPC 75 134 0 07 Mar 2022
Scan Context++: Structural Place Recognition Robust to Rotation and Lateral Variations in Urban Environments Giseop Kim Sunwook Choi Ayoung Kim 81 192 0 28 Sep 2021
BVMatch: Lidar-based Place Recognition Using Bird's-eye View Images L. Luo Sixi Cao Bin Han Hui-Liang Shen Junwei Li 3DV 50 60 0 01 Sep 2021
SSC: Semantic Scan Context for Large-Scale Place Recognition Lin Li Xin Kong Xiangrui Zhao Tianxin Huang Yong Liu 3DPC 63 86 0 01 Jul 2021
OverlapNet: Loop Closing for LiDAR-based SLAM Xieyuanli Chen Thomas Labe Andres Milioto Timo Röhling O. Vysotska Alexandre Haag Jens Behley C. Stachniss 3DPC 50 222 0 24 May 2021
Semantic Graph Based Place Recognition for 3D Point Clouds Xin Kong Xuemeng Yang Guangyao Zhai Xiangrui Zhao Xianfang Zeng Mengmeng Wang Yong Liu Wanlong Li Feng Wen 3DPC 60 122 0 26 Aug 2020
ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM C. Campos Richard Elvira J. Rodríguez José M.M. Montiel Juan D. Tardós 80 2,886 0 23 Jul 2020
Intensity Scan Context: Coding Intensity and Geometry Relations for Loop Closure Detection Han Wang Chen Wang Lihua Xie 46 223 0 12 Mar 2020
DeepICP: An End-to-End Deep Neural Network for 3D Point Cloud Registration Weixin Lu Guowei Wan Yao Zhou Xiangyu Fu P. Yuan Shiyu Song 3DPC 3DV 77 274 0 10 May 2019
PointNetVLAD: Deep Point Cloud Based Retrieval for Large-Scale Place Recognition Mikaela Angelina Uy Gim Hee Lee 3DPC 3DV 87 551 0 10 Apr 2018
VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator Tong Qin Peiliang Li Shaojie Shen 64 3,347 0 13 Aug 2017
Deep Learning Features at Scale for Visual Place Recognition Zetao Chen A. Jacobson Niko Sünderhauf B. Upcroft Lingqiao Liu Chunhua Shen Ian Reid Michael Milford 53 336 0 18 Jan 2017
PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation C. Qi Hao Su Kaichun Mo Leonidas Guibas 3DH 3DPC 3DV PINN 493 14,353 0 02 Dec 2016
ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras Raul Mur-Artal Juan D. Tardós 347 5,453 0 20 Oct 2016
ORB-SLAM: a Versatile and Accurate Monocular SLAM System Raul Mur-Artal José M.M. Montiel Juan D. Tardós 125 6,409 0 03 Feb 2015