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6 lines
324 B
TeX
6 lines
324 B
TeX
\subsection{Place Recognition}
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Idea: Build vocab from ``visual words'' (in Training).
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\bi{Runtime} Detect keypoints; Extract descriptors; Build histogram; Query DB for similarity; If no match, insert into DB, else use to compute with e.g. RANSAC
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% TODO: Iterative Closest Point (ICP), explained well in Slide Deck 10 recap
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