SEQ_ORB_SLAM2

1. Background

Forked from ORB_SLAM2, added the sequence class to speed up loop detection.

Merge a number of continuously keyframes into a sequence, and merge the keypoint sets from each keyframe to calculate the sequence keypoint sets(also calculate the BoW).

Here is the brief image for the final result(tested on KITTI).

2. loop detection

For each sequence, calculates the BoW score with all previous sequences, verifies if there is a matched sequence.

Here is the output result for loop detection.

3. Result

Compared the time usage for loop clusure thread between SEQ_ORB_SLAM2 and the ORB_SLAM2, and the result shows as the following graph.