Bags of Binary Words for Fast Place Recognition in Image Sequences


We propose a novel method for visual place recognition using bag of words obtained from accelerated segment test (FAST)+BRIEF features. For the first time, we build a vocabulary tree that discretizes a binary descriptor space and use the tree to speed up correspondences for geometrical verification. We present competitive results with no false positives in… (More)
DOI: 10.1109/TRO.2012.2197158


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