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arrenglover / openfabmap

Open-source C++ code for the FAB-MAP visual place recognition algorithm
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Was an inverted index added to speed up in the openfabmap v2.02? #15

Closed ErnstHowie closed 5 years ago

ErnstHowie commented 7 years ago

Thanks for such a great implementation of FabMap! Was an inverted index added to speed up in the OpenFabMap v2.02?

ErnstHowie commented 7 years ago

@arrenglover @kmactavish

arrenglover commented 7 years ago

Yep, the inverted index was implemented.

ErnstHowie commented 7 years ago

Thanks, @arrenglover . Here I have another question: My experimental results with the implementation of OpenFabMap v2.02 show that the computational complexity of FAM-MAP 2.0 is linear with the number of the database images (i.e., previously visited places). Did I make it right?

arrenglover commented 7 years ago

Yes, the computational complexity is linear in the number of locations. The FAB-MAP 2.0 inverted index drastically reduced the computation required, making it much faster. Figure 9 in "Highly Scalable Appearance-Only SLAM – FAB-MAP 2.0" shows the same linear complexity.

ErnstHowie commented 7 years ago

Thanks a lot.