swMATH ID: 26568
Software Authors: Glover A, Maddern W, Warren M, Reid S, Milford M, Wyeth G
Description: OpenFABMAP: an open source toolbox for appearance-based loop closure detection. The openFABMAP package has been integrated into OpenCV from the openFABMAP <http://code.google.com/p/openfabmap/> project [ICRA2011]. OpenFABMAP is an open and modifiable code-source which implements the Fast Appearance-based Mapping algorithm (FAB-MAP) developed by Mark Cummins and Paul Newman. The algorithms used in openFABMAP were developed using only the relevant FAB-MAP publications. FAB-MAP is an approach to appearance-based place recognition. FAB-MAP compares images of locations that have been visited and determines the probability of re-visiting a location, as well as providing a measure of the probability of being at a new, previously unvisited location. Camera images form the sole input to the system, from which visual bag-of-words models are formed through the extraction of appearance-based (e.g. SURF) features. openFABMAP requires training data (e.g. a collection of images from a similar but not identical environment) to construct a visual vocabulary for the visual bag-of-words model, along with a Chow-Liu tree representation of feature likelihood and for use in the Sampled new place method (see below).
Homepage: https://docs.opencv.org/2.4/modules/contrib/doc/openfabmap.html
Source Code:  https://github.com/arrenglover/openfabmap
Related Software: SeqSLAM; SURF; MonoSLAM
Cited in: 1 Publication

Cited in 1 Serial

1 Biological Cybernetics

Citations by Year