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                                            gvasserm

How can I train an incremental BoW vocabulary offline?

> Make sure to launch rtabmap with `Kp/DetectorStrategy=2` to use also ORB when you use that dictionary afterwards. > > Can you compare with a dictionary created with: > >...

Likelihood normalization - is it correct?

Thank you for your reply @matlabbe. In a simple use case, as observed in the sample, it generally works as expected. For correct loop closure, the likelihood mean/std is less...