HBRB-BoW: A Retrained Bag-of-Words Vocabulary for ORB-SLAM via Hierarchical BRB-KMeans

• URL: http://arxiv.org/abs/2603.04144v1
• Date: Wed, 04 Mar 2026 14:58:14 GMT
• Title: HBRB-BoW: A Retrained Bag-of-Words Vocabulary for ORB-SLAM via Hierarchical BRB-KMeans
• Authors: Minjae Lee, Sang-Min Choi, Gun-Woo Kim, Suwon Lee,
• Abstract summary: In visual simultaneous localization and mapping (SLAM), the quality of the visual vocabulary is fundamental to the system's ability to represent environments and recognize locations.<n>This paper proposes hierarchical binary-to-real-and-back (HBRB)-BoW, a refined hierarchical binary vocabulary training algorithm.<n> Experimental results demonstrate that the proposed approach yields a more discriminative and well-structured vocabulary than traditional methods.
• Score: 4.62057889157228
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: In visual simultaneous localization and mapping (SLAM), the quality of the visual vocabulary is fundamental to the system's ability to represent environments and recognize locations. While ORB-SLAM is a widely used framework, its binary vocabulary, trained through the k-majority-based bag-of-words (BoW) approach, suffers from inherent precision loss. The inability of conventional binary clustering to represent subtle feature distributions leads to the degradation of visual words, a problem that is compounded as errors accumulate and propagate through the hierarchical tree structure. To address these structural deficiencies, this paper proposes hierarchical binary-to-real-and-back (HBRB)-BoW, a refined hierarchical binary vocabulary training algorithm. By integrating a global real-valued flow within the hierarchical clustering process, our method preserves high-fidelity descriptor information until the final binarization at the leaf nodes. Experimental results demonstrate that the proposed approach yields a more discriminative and well-structured vocabulary than traditional methods, significantly enhancing the representational integrity of the visual dictionary in complex environments. Furthermore, replacing the default ORB-SLAM vocabulary file with our HBRB-BoW file is expected to improve performance in loop closing and relocalization tasks.

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