# Hierarchical forest based fast online loop closure for low-latency consistent visual-inertial SLAM

> Research article (Robotics and Autonomous Systems, 2022) · cited 14× · AI/ML

**Wikidata**: [openalex:W4210691787](https://www.wikidata.org/wiki/openalex:W4210691787)  
**Source**: https://4ort.xyz/entity/hierarchical-forest-based-fast-online-loop-closure-for-low-latency-consistent-visual-inertial-slam