ORB-SLAM: a Versatile and Accurate Monocular SLAM System

E. Bags of Words Place Recognition

    The system has embedded a bags of words place recognition module, based on DBoW22 [5], to perform loop detection and relocalization. Visual words are just a discretization of the descriptor space, which is known as the visual vocabulary.The vocabulary is created offline with the ORB descriptors extracted from a large set of images. If the images are general enough, the same vocabulary can be used for different environments getting a good performance, as shown in our previous work [11]. The system builds incrementally a database that contains an invert index, which stores for each visual word in the vocabulary, in which keyframes it has been seen, so that querying the database can be done very efficiently. The database is also updated when a keyframe is deleted by the culling procedure.

    这个算法已经装备了基于DBoW2的BOW的位置识别模块，来进行闭环检测和重定位。这些视觉词汇只是描述子空间的离散化，它们被认为是视觉词汇表。这些视觉词汇表是从大集合的图像中提取出来的ORB描述子理线生成的，如果这些图像大体数量满足，这些相同的词汇表可以被用于不同的环境取得更好的表现，就像文献[11]中先前的工作一样。 系统建立一个不断增加的包括一个反向索引的数据集，其中存储了词汇表中每一个关键帧中看到的视觉单词，这样，查询一个数据集将会变得很高效。数据集也会随着关键帧被剔除程序中删除而更新。

    Because there exists visual overlap between keyframes, when querying the database there will not exist a unique keyframe with a high score. The original DBoW2 took this overlapping into account, adding up the score of images that are close in time. This has the limitation of not including keyframes viewing the same place but inserted at a different time. Instead we group those keyframes that are connected in the covisibility graph. In addition our database returns all keyframe matches whose scores are higher than the 75% of the best score.

    由于在两帧之间会存在视觉的重叠，当查询数据集时会产生不是唯一的一个关键帧有最大分数的结果。原始的DBoW2将这些重叠也计入，将时间上相近的图像的分数加起来。这会产生没有包含在同一个地点视角关键帧却插入了不同时间的局限性（不太明白什么意思）。相反，我们将这些在公视图中相连的关键帧。除此之外我们的数据集返回所有得分高于最高分75%的关键帧匹配。

    An additional benefit of the bags of words representation for feature matching was reported in [5]. When we want to compute the correspondences between two sets of ORB features, we can constraint the brute force matching only to those features that belong to the same node in the vocabulary tree at a certain level (we select the second out of six),speeding up the search. We use this trick when searching matches for triangulating new points, and at loop detectionand relocalization. We also refine the correspondences with an orientation consistency test, see [11] for details, that discards outliers ensuring a coherent rotation for all correspondences.

    在文献[5]中展示了一种更加优秀基于特征匹配的BOW，当我们希望计算两哥ORB特征集合之间的联系时，我们可以限制只用这些属于在词典特定等级（我们挑选6个中的第2个）的相同节点的特征进行暴力匹配，从而来加速搜索的过程，我们用这种方法当我们搜索三角化出来的新特征点的匹配时以及在回环检测和重定位时。我们也用方向一致性测试来重定义特征之间的联系，文献[11]展示了细节，为所有的匹配相关性丢弃了外点来确保旋转一致性。