LFM: A Lightweight LCD Algorithm Based on Feature Matching between Similar Key Frames

LFM: A Lightweight LCD Algorithm Based on Feature Matching between Similar Key Frames

Loop Closure Detection (LCD) is an important technique to improve the accuracy of Simultaneous Localization and Mapping (SLAM). In this paper, we propose an LCD algorithm based on binary classification for feature matching between similar images with deep learning, which greatly improves the accurac...

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Bibliographic Details
Main Authors: Zuojun Zhu, Xiangrong Xu, Xuefei Liu, Yanglin Jiang
Format: Article
Language:English
Published: MDPI AG 2021-06-01
Series:Sensors
Subjects:
SLAM
LCD
deep learning
object detection
feature matching
lightweight CNN
Online Access:https://www.mdpi.com/1424-8220/21/13/4499

Internet

https://www.mdpi.com/1424-8220/21/13/4499

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