激光与光电子学进展, 2019, 56 (18): 181501, 网络出版: 2019-09-09
融合Gist特征与卷积自编码的闭环检测算法 下载: 1041次
Loop Closure Detection Algorithm Based on Convolutional Autoencoder Fused with Gist Feature
图 & 表
图 2. 融合Gist特征的深度卷积自编码模型结构
Fig. 2. Training pipeline of convolutional autoencoder fused with Gist feature
图 4. Gardens Point 和 Nordland测试数据集的部分图像。(a)白天_左侧;(b)白天_右侧;(c)夜晚_右侧;(d)春季序列;(e)冬季序列
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
图 5. Gardens Point与Nordland测试数据集闭环检测准确率-召回率曲线。(a) Gardens Point白天_左侧与白天_右侧;(b) Gardens Point白天_左侧与夜晚_右侧;(c) Nordland春季序列与冬季序列
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
表 1算法特征提取与闭环查询时间
Table1. Time to extracting features and querying the database on Gardens Point dataset
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邱晨力, 黄东振, 刘华巍, 袁晓兵, 李宝清. 融合Gist特征与卷积自编码的闭环检测算法[J]. 激光与光电子学进展, 2019, 56(18): 181501. 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.