Laser & Optoelectronics Progress, Volume. 58, Issue 4, 0411003(2021)
Loop-Closure Detection Using Image Sequencing Based on ResNet
[2] Konolige K, Agrawal M. FrameSLAM: from bundle adjustment to real-time visual mapping[J]. IEEE Transactions on Robotics, 24, 1066-1077(2008).
[7] Mur-Artal R. Montiel J M M, Tardós J D. ORB-SLAM: a versatile and accurate monocular SLAM system[J]. IEEE Transactions on Robotics, 31, 1147-1163(2015).
[9] Cummins M, Newman P. FAB-MAP: probabilistic localization and mapping in the space of appearance[J]. The International Journal of Robotics Research, 27, 647-665(2008).
[10] Bay H. Tuytelaars T, van Gool L. SURF: speeded up robust features[M]. //Leonardis A, Bischof H, Pinz A. Computer vision-ECCV 2006. Lecture notes in computer science., 3951, 404-417(2006).
[12] Salas-Moreno R F, Newcombe R A, Strasdat H et al. SLAM++: simultaneous localisation and mapping at the level of objects[C]//2013 IEEE Conference on Computer Vision and Pattern Recognition, June 23-28, 2013, Portland, OR, USA., 1352-1359(2013).
[13] Calonder M, Lepetit V, Strecha C et al. BRIEF: binary robust independent elementary features[M]. //Daniilidis K, Maragos P, Paragios N. Computer vision-ECCV 2010. Lecture notes in computer science. Berlin, Heidelberg: Springer, 6314, 778-792(2010).
[15] Liu Y, Zhang H. Visual loop closure detection with a compact image descriptor[C]//2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 7-12, 2012, Vilamoura, Portugal., 1051-1056(2012).
[17] Gao X, Zhang T. Unsupervised learning to detect loops using deep neural networks for visual SLAM system[J]. Autonomous Robots, 41, 1-18(2017).
[21] Hou Y, Zhang H, Zhou S L. Convolutional neural network-based image representation for visual loop closure detection[C]//2015 IEEE International Conference on Information and Automation, August 8-10, 2015, Lijiang, China., 2238-2245(2015).
[24] [24] DengJ, DongW, SocherR, et al.ImageNet: a large-scale hierarchical image database[C]//2009 IEEE Conference on Computer Vision and Pattern Recognition, June 20-25, 2009, Miami, FL, USA. New York: IEEE Press, 2009: 248- 255.
[26] Fischler M A. Bolles R C. rando sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography[J]. Communications of the ACM, 24, 381-395(1981).
Get Citation
Copy Citation Text
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
Category: Imaging Systems
Received: Jul. 15, 2020
Accepted: Aug. 13, 2020
Published Online: Feb. 24, 2021
The Author Email: Hao Zhan (zh1226@mail.ustc.edu.cn)