Re: how to get the time for feature extraction

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/how-to-get-the-time-for-feature-extraction-tp649p656.html

Well that depends for which purpose. For odometry, GFTT+BRIEF works well as we need something fast and the scale/rotation between two consecutive images don't change too much. SIFT and SURF are rotation/scale invariant, which I find better for loop closure detection over large environments.

cheers