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 minimal loss of performance.
CITATION STYLE
Fei, X., Tsotsos, K., & Soatto, S. (2016). A simple hierarchical pooling data structure for loop closure. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 9907 LNCS, pp. 321–337). Springer Verlag. https://doi.org/10.1007/978-3-319-46487-9_20
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