Incremental Bag of Words with Gradient Orientation Histogram for Appearance-Based Loop Closure Detection

Abstract

This paper proposes a novel approach for appearance-based loop closure detection using incremental Bag of Words (BoW) with gradient orientation histograms. The presented approach involves dividing and clustering image blocks into local region features and representing them using gradient orientation histograms. To improve the efficiency of the loop closure detection process, the vocabulary Clustering Feature (CF) tree is generated and updated in real time using the Balanced Iterative Reducing and Clustering using Hierarchies (BIRCH) algorithm, which is combined with an inverted index for the efficient selection of candidates and calculation of similarity. Moreover, temporally close and highly similar images are grouped to generate islands, which enhances the accuracy and efficiency of the loop closure detection process. The proposed approach is evaluated on publicly available datasets, and the results demonstrate high recall and precision.