Fast and Incremental Method for Loop-Closure Detection Using Bags of Visual Words

  title={Fast and Incremental Method for Loop-Closure Detection Using Bags of Visual Words},
  author={Adrien Angeli and David Filliat and St{\'e}phane Doncieux and Jean-Arcady Meyer},
  journal={IEEE Transactions on Robotics},
In robotic applications of visual simultaneous localization and mapping techniques, loop-closure detection and global localization are two issues that require the capacity to recognize a previously visited place from current camera measurements. We present an online method that makes it possible to detect when an image comes from an already perceived scene using local shape and color information. Our approach extends the bag-of-words method used in image classification to incremental conditions… CONTINUE READING
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