Closing Loops Without Places

Closing Loops Without Places

This paper proposes a new topo-metric representation of the world based on co-visibility that simplifies data association and improves the performance of appearance-based recognition. We introduce the concept of dynamic bag-of-words, which is a novel form of query expansion based on finding cliques...

Полное описание

Библиографические подробности
Главные авторы:	Mei, C, Sibley, G, Newman, P, IEEE
Формат:	Conference item
Опубликовано:	2010

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