BOW-FisherVector-VLAD ---------reference---------------------- 1. google: a test retrieval approach to object matching in videos 2. 3. aggregating local des
visual bag of words 词袋用于SLAM重定位 DBOWBinary featuresImage databaseLoop detectionA. Data base queryB. Matching groupingC. Temporal consistencyD. Efficient geometrical consistency 结果分析 ORBSLAM2 中的Relo