Sanpeng Deng

TSO-BoW: Accurate Long-Term Loop Closure Detection With Constant Query Time via Online Bag of Words and Trajectory Segmentation

This letter presents TSO-BoW, a lightweight trajectory segmentation-based Bag-of-Words algorithm for loop closure detection, utilizing intermittent online training for collected segments. In the online training phase, segments of collected data form sub-trajectories that are used for online training