Loop Closure Detection Based on Image Semantic Segmentation in Indoor Environment

Figure 13

P-R curves. (a) P-R curve of fr1-room; (b) P-R curve of fr2-large-with-loop; (c) P-R curve of fr3-long-office-household; (d) P-R curve of the self-filmed dataset.

(a)

(b)

(c)

(d)