激光与光电子学进展, 2021, 58 (4): 0411003, 网络出版: 2021-02-24
基于残差网络的图像序列闭环检测 下载: 1197次
Loop-Closure Detection Using Image Sequencing Based on ResNet
图 & 表
图 5. 不同数据集的典型图像。(a)City Centre; (b)New College
Fig. 5. Typical images in different datasets. (a) City Centre; (b) New College
图 6. GPS数据。(a)City Centre;(b)New College
Fig. 6. GPS data. (a) City Centre; (b) New College
图 7. 所提算法、ResNet18不同层及其他算法的P-R曲线比较。(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
图 9. 不同序列长度对结果的影响。(a) City Centre; (b) New College
Fig. 9. Influence of different sequence lengths on the results. (a) City Centre; (b) New College
图 10. City Centre数据集中序列长度为15时,不同m对结果的影响
Fig. 10. Influence of different m on the results when the sequence length is 15 in City Centre dataset
表 1部分参数的设置
Table1. Setting of some parameters
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占浩, 朱振才, 张永合, 郭明, 丁国鹏. 基于残差网络的图像序列闭环检测[J]. 激光与光电子学进展, 2021, 58(4): 0411003. 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.