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rubengooj / pl-slam

This code contains an algorithm to compute stereo visual SLAM by using both point and line segment features.
GNU General Public License v3.0
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loop closure #17

Open cumtchenchang opened 6 years ago

cumtchenchang commented 6 years ago

Thank you for your work. I want to konw how to use line feature for loop closure. Besides, how to train vocabulary use line feature and edge feature? Sincerely

cumtchenchang commented 6 years ago

I am so glad for your response, I believe loop closure is a hard work and have many question to consult with you. Can you tell me the experience to rain vocabulary use line feature and edge feature

rubengooj commented 6 years ago

We create two different vocabularies, points and line segments, by using DBoW2 as LBD descriptor can be treated similarly to ORB. You can check all the information in the paper: https://arxiv.org/abs/1705.09479

To train the vocabulary I recommend you to check the original repository: https://github.com/dorian3d/DBoW2 and work with the line descriptors in the same manner as with the point ones.