Soft assignment

[mattiasmar]

Is soft assignment of KP features supported by rtabmap?
(As in: H. J´egou, M. Douze, and C. Schmid. Improving bag-of-features for large scale image search. IJCV , 2010.)

[matlabbe]

Soft assignment seems described more explicitly in that paper https://ieeexplore.ieee.org/document/4587635

but no, feature quantization is done using a basic Kd tree (kd forest) approximate NN.