Loop Closure Detection Based on Image Semantic Segmentation in Indoor Environment

Figure 8

Mismatches of semantic nodes. (a) P1 and P2 are semantic nodes of the mask block of the current frame; (b) P3 and P4 are semantic nodes of the mask block of the candidate frame; (c) P1 and P4 are mismatched.

(a)

(b)

(c)