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Learning Binary Features Online from Motion Dynamics for Incremental Loop-Closure Detection and Place Recognition
A codeword for bag-of-words models is generated by packaging the learned descriptor and mask, with a masked Hamming distance defined to measure the distance between two codewords.
Good Features to Track for Visual SLAM
Efficient computation strategies for the observability indices are described based on incremental singular value decomposition (SVD) and greedy selection for the temporal and instantaneous observability indices, respectively.
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