Open jiapei100 opened 8 years ago
Very basic question. But your answers is in here: Bags of Binary Words for Fast Recognition in Image Sequences
So no you cant ignore it.
@chwimmer Thank you chwimmer, for your very prompt reply. So, Vocabularly/ORBvoc.txt cannot be ignored. But, when I use my own camera or captured images to start a fresh testing, should I use the same Vocabulary/ORBvoc.txt? Or, should I use my own Vocabulary/ORBvoc.txt?
Thanks...
Just use the same Vocabulary because its taken from a huge sets of data and works pretty good. I recommend to use this pull request because the Vocabulary is loaded faster but it also works with the ORBvoc.txt
@chwimmer Ok, make sense.... Current Vocabulary/ORBvoc.txt is trained out from a huge database, which is more or less a kind of generic ... I wonder how I can train my own Vocabulary/ORBvoc.txt? Any tutorial?
Cheers
Yes you could train your own data set. Please refer to https://github.com/dorian3d/DBoW2. Make sure to collect enough sample data.
@jiapei100 you should save lots of msg as voc.txt/bin saved when you load the camera and run ORB_SLAM2, and then train these msg.., the program is not very difficult, just follow the algorithm which can been seen in "DBoW2/TemplatedVocabulary.h "
@raulmur ,@chwimmer, @rikpires, @qianwenjun0801 As mentioned in this paper "Fast Relocalisation and Loop Closing in Keyframe-Based SLAM" you created vocabulary using the data-set Bovisa 2008-09-01. This Vocabulary is taken from a huge sets of data and works pretty good for indoor and outdoor SLAM. If I want to use the same program ORBSLAM2 in completely different environment rather than indoor and outdoor environment, are the ORBvoc.text still good to use? Or I need to generate my own Vocabulary for the data-sets I collected from that environment?
@Fatmoham Have you already fixed it? I am asking myself the same question but have no answer and I come to search and find this. I don't exactly understand what the meaning of the 'large dataset' is. Does it mean that database is somehow common to most of the natural scene or it mean the database is a large one (or large enough) wrt all the experimental datasets used by ORBSLAM?
Thank you for this forum.. it help me to test my samples in ORBSLAM research.
Thank you for this question.
Sorry for my entry-level question, but what is Vocabulary/ORBvoc.txt for? Can I just ignore this parameter during testing my own camera?
Cheers