Abstract
Abstract Inspired by generative adversarial network (GAN), we propose a novel unsupervised approach for loop closure detection in autonomous unmanned systems. A binary GAN model dedicated to mobile application scenarios is designed to obtain binary feature descriptors, which are further incorporated into the most commonly used Bag of Visual Words (BoVW) model for loop closure detection. Compared with those hand-crafted features like SIFT and ORB, the performance of loop closure detection in complex environments with strong viewpoint and condition changes can be greatly improved. Compared with existing supervised approach based on convolutional neural network like AlexNet and AMOSNet, the cost-expensive task of supervised data annotation is totally avoided, which make the proposed approach more practical.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
