Fig. 1. Flow of loop closure detection based on multi-level features

Fig. 2. Sample images of Gardens Point dataset. (a) Day_left; (b) day_right; (c) night_right

Fig. 3. Visualization of similarity matrix for Gardens Point dataset. (a) pool3+pool5+fc1; (b) pool1; (c) pool3; (d) fc1

Fig. 4. Precision-recall curve of different method on Gardens Point dataset

Fig. 5. Images taken at the same location but at different time

Fig. 6. Dynamic object detection results for YOLOv2. (a) Results of YOLOv2 method; (b) results of proposed method

Fig. 7. Flow of loop closure detection based on image dynamic interference semantic filter mechanism

Fig. 8. Precision-recall curve of different method on Tokyo24/7 dataset