I am trying to build a loop detector for depth based data. For this I want to build a vocabulary using point features such as FPFH or 3DMatch. I read in the introduction that this version includes template classes hence any kind of descriptor can be used. Can someone just give me an outline of the steps to make a new Vocabulary from features which are not necessarily from images.
I am trying to build a loop detector for depth based data. For this I want to build a vocabulary using point features such as FPFH or 3DMatch. I read in the introduction that this version includes template classes hence any kind of descriptor can be used. Can someone just give me an outline of the steps to make a new Vocabulary from features which are not necessarily from images.