Algorithm or Theory of RTAB-MAP's Localization

Posted by shiba_slam on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Algorithm-or-Theory-of-RTAB-MAP-s-Localization-tp6417.html

Hi,

I searched the intro lab's page and i found some papers of RTAB-MAP.
There are many talking about memory management.

But i want to know how does RTAB-MAP localization?
I know that loop closure using "Bag of word", and i want to learn something about localization.
Is it the same using loop closure(Bag of word)?
And i also want to know that whether "Lidar" help in localization or not.

Please give me some keywords of the localization method then i'll read the papers.
Thanks in advance!!