A Simple Hierarchical Pooling Data Structure for Loop Closure


We propose a data structure obtained by hierarchically pooling Bag-of-Words (BoW) descriptors during a sequence of views that achieves average speedups in large-scale loop closure applications ranging from 2 to 20 times on benchmark datasets. Although simple, the method works as well as sophisticated agglomerative schemes at a fraction of the cost with… (More)
DOI: 10.1007/978-3-319-46487-9_20


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