Bag of Binary Words VS RTABMap

Posted by leo152 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Bag-of-Binary-Words-VS-RTABMap-tp2335.html

Hi!
   I want to use loop closure detection method, and tried Bag of Binary Words as well as RTABMAP, however, I found that BoBW only needs 10ms to process a frame, while RTABMAP typically needs 1000ms or more, RTABMAP is also using ORB feature, the same as BoBW.
   Since both of these two methods are using bag of words method, why RTABMAP is much slower than BOBW? Even though the recall curve of RTABMAP is better than BOBW.
   Is there any one can introduce the difference between the two methods?

Best Regards