Zhenqiang Bao, Aihua Li, Zhigao Cui, Yanzhao Su, Yong Zheng. Loop Closure Detection Algorithm Based On Multi-Level Convolutional Neural Network Features[J]. Laser & Optoelectronics Progress, 2018, 55(11): 111507
- Laser & Optoelectronics Progress
- Vol. 55, Issue 11, 111507 (2018)
Fig. 1. Flow of loop closure detection based on multi-level features
Fig. 2. Sample images of Gardens Point dataset. (a) Day_left; (b) day_right; (c) night_right
Fig. 3. Visualization of similarity matrix for Gardens Point dataset. (a) pool3+pool5+fc1; (b) pool1; (c) pool3; (d) fc1
Fig. 4. Precision-recall curve of different method on Gardens Point dataset
Fig. 5. Images taken at the same location but at different time
Fig. 6. Dynamic object detection results for YOLOv2. (a) Results of YOLOv2 method; (b) results of proposed method
Fig. 7. Flow of loop closure detection based on image dynamic interference semantic filter mechanism
Fig. 8. Precision-recall curve of different method on Tokyo24/7 dataset
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Table 1. Structure of VGG19
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