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A RGB-D SLAM Algorithm Combining ORB Features and BOW:

, In: Proceedings of the 2nd International Conference on Computer Science and Application Engineering,
Dong, Pengfei ; Ruan, Xiaogang ; Huang, Jing.. - p. 1-6 , 2018
Link: https://dl.acm.org/doi/10.1145/3207677.3278061