Real-time loop detection with bags of binary words

@article{GlvezLpez2011RealtimeLD,
  title={Real-time loop detection with bags of binary words},
  author={Dorian G{\'a}lvez-L{\'o}pez and Juan D. Tard{\'o}s},
  journal={2011 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2011},
  pages={51-58}
}
We present a method for detecting revisited places in a image sequence in real time by using efficient features. We introduce three important novelties to the bag-of-words plus geometrical checking approach. We use FAST keypoints and BRIEF descriptors, which are binary and very fast to compute (less that 20µs per point). To perform image comparisons, we make use of a bag of words that discretises the binary descriptor space and an inverse index. We also introduce the use of a direct index to… CONTINUE READING
Highly Influential
This paper has highly influenced 11 other papers. REVIEW HIGHLY INFLUENTIAL CITATIONS
Highly Cited
This paper has 90 citations. REVIEW CITATIONS
55 Citations
23 References
Similar Papers

Citations

Publications citing this paper.
Showing 1-10 of 55 extracted citations

91 Citations

01020'11'13'15'17
Citations per Year
Semantic Scholar estimates that this publication has 91 citations based on the available data.

See our FAQ for additional information.

References

Publications referenced by this paper.
Showing 1-10 of 23 references

Similar Papers

Loading similar papers…