Re: Bag of Binary Words VS RTABMap
Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Bag-of-Binary-Words-VS-RTABMap-tp2335p2348.html
I did a longer example with CityCentre dataset (FAB-MAP dataset). Here DBoW2 finds a lot of wrong loop closures before image 680 (around where the second traversal begins), example:
With RTAB-Map using the same command line as in the previous post, results are very similar to the paper in terms of Precision/Recall (no wrong loop closures before image 680), but timings are different (faster computer and "Kp/IncrementalFlann=true"):
Note the max time (1.3 sec). It is where the vocabulary structure needs to re-updated (kd-tree balancing). We see better on this plot (the 5 peaks show where the structure is updated, only when the vocabulary doubles in size):
URL: http://official-rtab-map-forum.206.s1.nabble.com/Bag-of-Binary-Words-VS-RTABMap-tp2335p2348.html
I did a longer example with CityCentre dataset (FAB-MAP dataset). Here DBoW2 finds a lot of wrong loop closures before image 680 (around where the second traversal begins), example:
... Adding image 492: ./resources/images/0493.jpg... - Loop found with image 151! Adding image 493: ./resources/images/0494.jpg... - Loop found with image 133! ... Execution time: - Feature computation: 97.8672 ms/image - Loop detection: 18.0362 ms/image
With RTAB-Map using the same command line as in the previous post, results are very similar to the paper in terms of Precision/Recall (no wrong loop closures before image 680), but timings are different (faster computer and "Kp/IncrementalFlann=true"):
$ showlogs; Loading log files... meanTime = 103.82 maxTime = 1.2797 maxDict = 305987 maxWM = 1206 LTM = 1237 meanWM = 590.07 meanDict = 1.5500e+05 meanWordsPerSign = 399.42
Note the max time (1.3 sec). It is where the vocabulary structure needs to re-updated (kd-tree balancing). We see better on this plot (the 5 peaks show where the structure is updated, only when the vocabulary doubles in size):
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