Semisupervised Vector Quantization in Visual SLAM Using HGCN

Algorithm 2

Filling log-likelihood.

(1)	For where do
(2)	Locations  Inverted-Index [q]
(3)	For in Locations do
(4)	If CLtree (0, 1) > 0 then
(5)	Log-Likelihood  +=
(6)	else
(7)	Log-Likelihood  +=
(8)	End if
(9)	End for
(10)	End for
(11)	For where and  = 1 do
(12)	Locations  Inverted-Index [q]
(13)	For in Locations do
(14)	Log-Likelihood  +=
(15)	End for
(16)	End for