Visual Vocabulary

Visual Vocabulary

• Simple bag-of-words loop closure for visual SLAM

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• Visual Vocabulary
  • DBoW
  • DLoopDetector
  • FBOW
  • FAB-MAP
  • Visual Vocabulary Example

DBoW

• dorian3d/DBoW: an open source C++ library for indexing and converting images into a bag-of-word representation (Note: out of date)
• dorian3d/DBoW2: an improved version of the DBow library
• rmsalinas/DBow3: an improved version of the DBow2 library
  Bash

  git clone https://github.com/rmsalinas/DBow3.git
  cd DBow3
  mkdir build & cd build
  cmake .. & make
  

DLoopDetector

• dorian3d/DLoopDetector is an open source C++ library to detect loops in a sequence of images collected by a mobile robot

FBOW

• rmsalinas/fbow: FBOW (Fast Bag of Words) is an extremmely optimized version of the DBow2/DBow3 libraries.

FAB-MAP

• FAB-MAP is a system for appearance-based navigation or place recognition

• arrenglover/openfabmap: Open-source C++ code for the FAB-MAP visual place recognition algorithm

• OpenFABMAP (OpenCV) is an open and modifiable code-source which implements the Fast Appearance-based Mapping algorithm (FAB-MAP) developed by Mark Cummins and Paul Newman

Visual Vocabulary Example

• ORBvoc.txt.tar.gz
  Bash

  # location: https://github.com/raulmur/ORB_SLAM2/blob/master/Vocabulary/
  wget https://raw.githubusercontent.com/raulmur/ORB_SLAM2/master/Vocabulary/ORBvoc.txt.tar.gz