iBoW-LCD: An Appearance-Based Loop-Closure Detection Approach Using Incremental Bags of Binary Words

  title={iBoW-LCD: An Appearance-Based Loop-Closure Detection Approach Using Incremental Bags of Binary Words},
  author={Emilio Garcia-Fidalgo and Alberto Ortiz},
  journal={IEEE Robotics and Automation Letters},
In this letter, we introduce iBoW-LCD, a novel appearance-based loop-closure detection method. The presented approach makes use of an incremental bag-of-words (BoW) scheme based on binary descriptors to retrieve previously seen similar images, avoiding any vocabulary training stage usually required by classic BoW models. In addition, to detect loop closures, iBoW-LCD builds on the concept of dynamic islands, a simple but effective mechanism to group similar images close in time, which reduces… 

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