Bag-of-Word-Groups (BoWG): A Robust and Efficient Loop Closure Detection Method Under Perceptual Aliasing

arXiv — cs.CVTuesday, October 28, 2025 at 4:00:00 AM
A new method called Bag-of-Word-Groups (BoWG) has been introduced to enhance loop closure detection in SLAM systems, particularly in challenging environments like narrow pipes. This innovation addresses issues like vector quantization and feature sparsity, which have hindered traditional methods. By improving efficiency and reducing computational costs, BoWG promises to significantly enhance global mapping consistency, making it a noteworthy advancement in robotics and navigation technology.
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