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Updated Benchmark (markdown)

matlabbe
2015-03-09 16:47:51 -04:00
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Benchmark.md
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@@ -52,6 +52,7 @@ The other parameters set:
* `Rtabmap/LoopRatio=0.0`: The loop ratio is used to rejected dropping hypotheses, which means that we are moving to another area. In the paper it was not used, loop closures were accepted in the area of the ground truth even if the images are very different. * `Rtabmap/LoopRatio=0.0`: The loop ratio is used to rejected dropping hypotheses, which means that we are moving to another area. In the paper it was not used, loop closures were accepted in the area of the ground truth even if the images are very different.
* `Bayes/FullPredictionUpdate=true`: In the papers, the Bayes prediction was regenerated at each frame. * `Bayes/FullPredictionUpdate=true`: In the papers, the Bayes prediction was regenerated at each frame.
* `Kp/TfIdfLikelihoodUsed=false`: In the papers, tf-idf weighting wasn't used. * `Kp/TfIdfLikelihoodUsed=false`: In the papers, tf-idf weighting wasn't used.
* `Mem/TransferSortingByWeightId=true`: (**Version>=0.8.6**) In the papers, locations selected for Transfer were sorted by weight/ID, not by weight/Age/ID.
**The command to process the Lip6Indoor dataset**: **The command to process the Lip6Indoor dataset**:
``` ```