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...
| Main Authors: | , , , |
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| 格式: | Conference item |
| 出版: |
2010
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