Semisupervised Vector Quantization in Visual SLAM Using HGCN

Table 4

Comparing HGCN-BOW and BoW methods for LCD.

		HGCN-BoW		BoW
		Acc (%)	Rec (%)	Acc (%)	Rec (%)
St. Lucia	New College	50.00	100	50.00	85.00
311417	160500	91.00	70.50
TUM sequence-11	Lip6indoor	50.03	100	34.00	100
392449	27189	54.48	90.00
		60.00	81.00
St. Lucia	St. Lucia	62.00	72.00	34	72.00
311417	235510	58.90	99.00
New College	Newer College	Ground	Ground	44.00	100
160500	194000	Truth	Truth