diff --git a/include/DBoW2/TemplatedVocabulary.h b/include/DBoW2/TemplatedVocabulary.h
index 53a0e303..4534e5a7 100644
--- a/include/DBoW2/TemplatedVocabulary.h
+++ b/include/DBoW2/TemplatedVocabulary.h
@@ -1,3 +1,8 @@
+/**
+* This is a modified version of TemplatedVocabulary.h from DBoW2.
+* Added functions: Save and Load from text files without using cv::FileStorage.
+*/
+
 /**
  * File: TemplatedVocabulary.h
  * Date: February 2011
@@ -224,6 +229,19 @@ class TemplatedVocabulary
    */
   void setScoringType(ScoringType type);
   
+ /**
+  * Loads the vocabulary from a text file
+  * @param filename
+  */
+  bool loadFromTextFile(const std::string &filename);
+
+ /**
+  * Saves the vocabulary into a text file
+  * @param filename
+  */
+  void saveToTextFile(const std::string &filename) const;
+    
+	
   /**
    * Saves the vocabulary into a file
    * @param filename
@@ -1314,6 +1332,122 @@ int TemplatedVocabulary<TDescriptor,F>::stopWords(double minWeight)
 
 // --------------------------------------------------------------------------
 
+template<class TDescriptor, class F>
+	bool TemplatedVocabulary<TDescriptor,F>::loadFromTextFile(const std::string &filename)
+{
+    std::ifstream f;
+    f.open(filename.c_str());
+    
+    if(f.eof())
+        return false;
+    
+    m_words.clear();
+    m_nodes.clear();
+    
+    std::string s;
+    getline(f,s);
+    std::stringstream ss;
+    ss << s;
+    ss >> m_k;
+    ss >> m_L;
+    int n1, n2;
+    ss >> n1;
+    ss >> n2;
+    
+    if(m_k<0 || m_k>20 || m_L<1 || m_L>10 || n1<0 || n1>5 || n2<0 || n2>3)
+    {
+        std::cerr << "Vocabulary loading failure: This is not a correct text file!" << std::endl;
+        return false;
+    }
+    
+    m_scoring = (ScoringType)n1;
+    m_weighting = (WeightingType)n2;
+    createScoringObject();
+    
+    // nodes
+    int expected_nodes =
+    (int)((pow((double)m_k, (double)m_L + 1) - 1)/(m_k - 1));
+    m_nodes.reserve(expected_nodes);
+    
+    m_words.reserve(pow((double)m_k, (double)m_L + 1));
+    
+    m_nodes.resize(1);
+    m_nodes[0].id = 0;
+    while(!f.eof())
+    {
+        std::string snode;
+        getline(f,snode);
+        std::stringstream ssnode;
+        ssnode << snode;
+        
+        int nid = m_nodes.size();
+        m_nodes.resize(m_nodes.size()+1);
+        m_nodes[nid].id = nid;
+        
+        int pid ;
+        ssnode >> pid;
+        m_nodes[nid].parent = pid;
+        m_nodes[pid].children.push_back(nid);
+        
+        int nIsLeaf;
+        ssnode >> nIsLeaf;
+        
+        std::stringstream ssd;
+        for(int iD=0;iD<F::L;iD++)
+        {
+            std::string sElement;
+            ssnode >> sElement;
+            ssd << sElement << " ";
+        }
+        F::fromString(m_nodes[nid].descriptor, ssd.str());
+        
+        ssnode >> m_nodes[nid].weight;
+        
+        if(nIsLeaf>0)
+        {
+            int wid = m_words.size();
+            m_words.resize(wid+1);
+            
+            m_nodes[nid].word_id = wid;
+            m_words[wid] = &m_nodes[nid];
+        }
+        else
+        {
+            m_nodes[nid].children.reserve(m_k);
+        }
+    }
+    
+    return true;
+    
+}
+
+// --------------------------------------------------------------------------
+
+template<class TDescriptor, class F>
+void TemplatedVocabulary<TDescriptor,F>::saveToTextFile(const std::string &filename) const
+{
+    std::fstream f;
+    f.open(filename.c_str(),std::ios_base::out);
+    f << m_k << " " << m_L << " " << " " << m_scoring << " " << m_weighting << std::endl;
+    
+    for(size_t i=1; i<m_nodes.size();i++)
+    {
+        const Node& node = m_nodes[i];
+        
+        f << node.parent << " ";
+        if(node.isLeaf())
+            f << 1 << " ";
+        else
+            f << 0 << " ";
+        
+        f << F::toString(node.descriptor) << " " << (double)node.weight << std::endl;
+    }
+    
+    f.close();
+}
+
+// --------------------------------------------------------------------------
+
 template<class TDescriptor, class F>
 void TemplatedVocabulary<TDescriptor,F>::save(const std::string &filename) const
 {