Hao Zhan, Zhencai Zhu, Yonghe Zhang, Ming Guo, Guopeng Ding. Loop-Closure Detection Using Image Sequencing Based on ResNet[J]. Laser & Optoelectronics Progress, 2021, 58(4): 0411003
- Laser & Optoelectronics Progress
- Vol. 58, Issue 4, 0411003 (2021)
Fig. 1. Flowchart of the proposed algorithm
Fig. 2. Typical ResNet18 structure
Fig. 3. Designed ResNet structure
Fig. 4. Direct output form of designed network
Fig. 5. Typical images in different datasets. (a) City Centre; (b) New College
Fig. 6. GPS data. (a) City Centre; (b) New College
Fig. 7. Comparison of P-R curves of proposed algorithm, different layers in ResNet18, and other algorithms. (a) City Centre; (b) New College
Fig. 8. Form of output combination
Fig. 9. Influence of different sequence lengths on the results. (a) City Centre; (b) New College
Fig. 10. Influence of different m on the results when the sequence length is 15 in City Centre dataset
Fig. 11. Similarity curves before and after combination of 15 length sequences. (a) Similarity between sequence combination features and other frames; (b) similarity of sequence without combination
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Table 1. Setting of some parameters
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