Loop Closure Detection Algorithm Based on Convolutional Autoencoder Fused with Gist Feature

Chenli Qiu; Dongzhen Huang; Huawei Liu; Xiaobing Yuan; Baoqing Li

doi:10.3788/LOP56.181501

Laser & Optoelectronics Progress, Volume. 56, Issue 18, 181501(2019)

Loop Closure Detection Algorithm Based on Convolutional Autoencoder Fused with Gist Feature

Chenli Qiu^1,2, Dongzhen Huang^1,2, Huawei Liu¹, Xiaobing Yuan¹, and Baoqing Li^1、*

¹ Science and Technology on Microsystem Laboratory, Shanghai Institute of Microsystem and Information Technology, Chinese Academy of Sciences, Shanghai 201800, China

² University of Chinese Academy of Sciences, Beijing 100049, China

show less

Abstract Get PDF(in Chinese)

Figures & Tables(6)

Fig. 1. Training pairs with viewpoint change

Download full size

Fig. 2. Training pipeline of convolutional autoencoder fused with Gist feature

Download full size

Fig. 3. The flowchart of loop closure detection

Download full size

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

Download full size

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

Download full size

Table 1. Time to extracting features and querying the database on Gardens Point dataset
View table
Table 1. Time to extracting features and querying the database on Gardens Point dataset
Method Extract features time /ms Query time /μs Complexity /10⁶
Ours(GPU) 0.81 5.88 217.15
CALC(GPU) 0.64 5.13 186.14
Places-CNN(GPU) 2.31 42.98 479.45
BoVW(CPU) 20.27 17.00 -
Gist(CPU) 41.43 5.10 -

Tools

Get Citation

Copy Citation Text

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

Download Citation

EndNote(RIS)BibTex Plain Text

Set citation alerts for article

Save article for my favorites