Re:Re: 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-tp2335p2370.html

Sorry for not making this question clearly.
I mean for example, the 1000th image is at the same location of 1st, 100th,200th,300th image. Suppose the likelyhood between the 1000th image and kth image is L_k.
L_1 = L_100 = L_200 =L_300. Then for the 1000th image, p(S_t = 1) = p(S_t = 100) = p(S_t = 200) = p(S_t = 300) will be very small because of the normalization process. Will it be a problem?
Such a situation do happen when a car is driving along a circle for many laps.
Best Regards
Lei Han