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-tp2335p2362.html

Hi,

Do you mean if the same loop closure happens on 1st, 100th, 200th, 300th frame (same location)? The Bayes filter will sum up probabilities together for many images of the same location linked by loop closures. In practice, I didn't do the test using the likelihood output directly instead of the Bayes filter, so it is difficult the answer this question.

cheers,
Mathieu