Loop-Closure-Detection-with-DBoW2

Loop closure detection with DBoW2 using mez's monocular visual Odometry C++.

Loop Closure Detection with ORB

Loop closure detection with DBoW2 using mez's monocular VO.
The original author used the FAST algorithm, but I modified the code using ORB and DBoW2.

Visual vocabulary is not generated simultaneously with mapping, and visual vocabulary is created first in the modified code. After that, the similarity between the images is estimated, and loop detection can be checked while mapping is performed.

Lee-JaeWon's GitBlog about Loop Detection and Bag of Words

Code Overview

main.cpp : Main code containing visual odometry and loop detection processes.
using_DBoW.h : Functions with DBoW2

Build and Excute

1. git clone this repo
2. mkdir build && cd build
   
3. cmake ..
   
4. make
   
5. ./mono_vo viz