bag of words for a specific scene

HKUST-Aerial-Robotics / VINS-Mono

A Robust and Versatile Monocular Visual-Inertial State Estimator

GNU General Public License v3.0

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bag of words for a specific scene #103

Open JMZZZ opened 6 years ago

JMZZZ commented 6 years ago

Hi,I'm now working on locating on a specific scene. And I think training a offline BoW for this scene can improve accuracy. How did you generate the dictionary brief_k10L6.bin? it uses DBOW2？ Can you tell me some details? Thanks a lot !!!

MerlotQ commented 6 years ago

I think so. It should be using DBow2 which uses DLib. k=10 is the branching factor and L=6 is the depth factor. There is a demo in DLoopDetector and you can generate your own voc file.