Loop Closure Detection Algorithm Based On Multi-Level Convolutional Neural Network Features

Zhenqiang Bao; Aihua Li; Zhigao Cui; Yanzhao Su; Yong Zheng

doi:10.3788/LOP55.111507

[1] Lin Z L, Zhang G L, Yao E L et al. Stereo visual odometry based on motion object detection in the dynamic scene[J]. Acta Optica Sinica, 37, 1115001(2017).

[2] Zhang X, Jin Y X, Xue D. Image matching algorithm based on SICA-SIFT and particle swarm optimization[J]. Laser & Optoelectronics Progress, 54, 091002(2017).

[3] Shan B H, Huo X Y, Liu Y. A stereovision measurement method using epipolar constraint to correct digital image correlation matching[J]. Chinese Journal of Lasers, 44, 0804003(2017).

[4] Lowe D G. Distinctive image features from scale-invariant keypoints[J]. International Journal of Computer Vision, 60, 91-110(2004). http://doi.ieeecomputersociety.org/resolve?ref_id=doi:10.1023/B:VISI.0000029664.99615.94&rfr_id=trans/tp/2008/10/ttp2008101683.htm

[5] Bay H. Tuytelaars T, van Gool L. SURF: speeded up robust features. [C]∥European Conference on Computer Vision, 404-417(2006).

[6] Rublee E, Rabaud V, Konolige K et al. ORB: an efficient alternative to SIFT or SURF. [C]∥International Conference on Computer Vision, 2564-2571(2011).

[7] Oliva A, Torralba A. Modeling the shape of the scene: a holistic representation of the spatial envelope[J]. International Journal of Computer Vision, 42, 145-175(2001). http://dl.acm.org/citation.cfm?id=598462"

[8] Szegedy C, Liu W, Jia Y Q et al. Going deeper with convolutions. [C]∥IEEE Conference on Computer Vision and Pattern Recognition, 1-9(2015).

[9] Zhou B, Lapedriza A, Xiao J et al. Learning deep features for scene recognition using places database. [C]∥Annual Conference on Neural Information Processing Systems, 487-495(2014).

[10] Chen Z T, Lam O, Jacobson A et al. Convolutional neural network-based place recognition. [C]∥Computer Vision and Pattern Recognition(2014).

[11] Hou Y, Zhang H, Zhou S L. Convolutional neural network-based image representation for visual loop closure detection. [C]∥IEEE International Conference on Information and Automation, 2238-2245(2015).

[12] Simonyan K, Zisserman A. Very deep convolutional networks for large-scale image recognition. [C]∥International Conference on Learning Representations(2015).

[13] Sünderhauf N, Shirazi S, Dayoub F et al. On the performance of ConvNet features for place recognition. [C]∥IEEE/RSJ International Conference on Intelligent Robots and Systems, 4297-4304(2015).

[14] Charikar M S. Similarity estimation techniques from rounding algorithms. [C]∥34th Annual ACM Symposium on Theory of Computing, 380-388(2002).

[15] Redmon J, Farhadi A. YOLO9000: better, faster, stronger. [C]∥IEEE Conference on Computer Vision and Pattern Recognition, 6517-6525(2017).

[16] Torii A. Arandjelovi R, Sivic J, et al. 24/7 place recognition by view synthesis . [C]∥IEEE Conference on Computer Vision and Pattern Recognition, 1808-1817(2015).