A Simple Hierarchical Pooling Data Structure for Loop Closure
University of California, Los Angeles Los Angeles United States
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We propose a data structure obtained by hierarchically pool-ing Bag-of-Words BoW descriptors during a sequence of views that achieves average speedups in large-scale loop closure applications rang-ing from 2 to 20 times on benchmark datasets. Although simple, the method works as well as sophisticated agglomerative schemes at a fraction of the cost with minimal loss of performance.