Chenli Qiu, Dongzhen Huang, Huawei Liu, Xiaobing Yuan, Baoqing Li. Loop Closure Detection Algorithm Based on Convolutional Autoencoder Fused with Gist Feature[J]. Laser & Optoelectronics Progress, 2019, 56(18): 181501
- Laser & Optoelectronics Progress
- Vol. 56, Issue 18, 181501 (2019)
Fig. 1. Training pairs with viewpoint change
Fig. 2. Training pipeline of convolutional autoencoder fused with Gist feature
Fig. 3. The flowchart of loop closure detection
Fig. 4. Some pictures from Gardens Point and Nordland test datasets. (a) Day_left; (b) day_right; (c) night_right; (d) spring sequence; (e) winter sequence
Fig. 5. Precision-recall curves for Gardens Point and Nordland datasets. (a) Gardens Point: day_left versus day_right; (b) Gardens Point: day_left versus night_right; (c) Nordland: spring versus winter
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Table 1. Time to extracting features and querying the database on Gardens Point dataset
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