Loop Closure Detection Based on Image Semantic Segmentation in Indoor Environment

Table 1

Configurations of semantic segmentation environment.

Hardware configuration		Software configuration
Operating system	Windows 10	GPU-Driver	457
CPU	Intel i7 10700	CUDA	11.1
Internal storage	16 GB	Python	3.8
Hard disk	SSD 2TB	Torch	1.8.1
Graphics card	GEFORCE RTX 3070	Data