激光与光电子学进展, 2018, 55 (11): 111507, 网络出版: 2019-08-14
融合多层次卷积神经网络特征的闭环检测算法 下载: 1080次
Loop Closure Detection Algorithm Based On Multi-Level Convolutional Neural Network Features
图 & 表
图 1. 融合多层次CNN特征的闭环检测流程图
Fig. 1. Flow of loop closure detection based on multi-level features
图 2. Gardens Point数据集样本图像。(a)白天_左侧;(b)白天_右侧;(c)晚上_右侧
Fig. 2. Sample images of Gardens Point dataset. (a) Day_left; (b) day_right; (c) night_right
图 3. Gardens Point数据集的相似性矩阵可视化图。(a) pool3+pool5+fc1;(b) pool1;(c) pool3;(d) fc1
Fig. 3. Visualization of similarity matrix for Gardens Point dataset. (a) pool3+pool5+fc1; (b) pool1; (c) pool3; (d) fc1
图 4. Gardens Point数据集上不同方法的精确率-召回率曲线
Fig. 4. Precision-recall curve of different method on Gardens Point dataset
图 6. YOLOv2算法动态目标检测结果。(a) YOLOv2算法检测结果;(b)本文算法检测结果
Fig. 6. Dynamic object detection results for YOLOv2. (a) Results of YOLOv2 method; (b) results of proposed method
图 7. 基于图像动态干扰语义滤波机制的闭环检测流程图
Fig. 7. Flow of loop closure detection based on image dynamic interference semantic filter mechanism
表 1VGG19结构
Table1. Structure of VGG19
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鲍振强, 李艾华, 崔智高, 苏延召, 郑勇. 融合多层次卷积神经网络特征的闭环检测算法[J]. 激光与光电子学进展, 2018, 55(11): 111507. 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.