SLAM-基于序列的ORB-SLAM-可加速闭环线程-loop-closure-thread-优质项目实战.zip

# SEQ_ORB_SLAM2 # 1. Background Forked from [ORB_SLAM2](https://github.com/raulmur/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.