gvasserm

How can I train an incremental BoW vocabulary offline?

3

Hi, I'm trying to replace incremental BoW with fixed vocabulary trained offline on subset of mapping data. Is it possible to train it correctly offline? I'm currently using the following...

Likelihood normalization - is it correct?

3

I've been looking into the global loop closure mechanism in RTAB-Map, and I noticed that its activation seems to depend on the probability of recognizing a new virtual place. If...