Place Recognition

From this https://ieeexplore.ieee.org/document/6906953 paper by ORB-SLAM authors.

The survey of Williams et al. [2] compared several approaches for place recognition and concluded that techniques based on appearance,

• image to image matching
  • scales better in large environments
• map to map
• image to map Within appearance based methods, bags of words techniques are to the fore because of their high efficiency.