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[International Conference] Evaluation of Vocabulary Trees for Localization in Robot Applications
International Conference on Control, Automation and Systems , October 2013
  _ICCAS2013.pdf _ICCAS2013.pdf (366.5K) [103]
.Vocabulary tree based place recognition is widely used in topological localization and its various applications
have been proposed during the past decade. But the bag-of-words representations from the vocabulary tree which is
trained with fixed training data, are difficult to be optimal to dynamic environments. To solve this problem, adaptive
vocabulary tree is proposed. However, there has been no comparison considering the adaptive property of conventional
vocabulary tree. This paper provides the performance evaluation of the vocabulary tree and the adaptive vocabulary tree
in dynamic scenes.


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