Loop Closure Detection Based on Image Semantic Segmentation in Indoor Environment

Table 2

Comparison of loop closure detection under similar environments.

		Proposed	SDA	DBoW	CNN-W	Conv3
Illumination change	The number of correctly judged groups	40	37	35	37	33
	Precision rate (%)	80	74	70	74	66
Viewpoint deviation	The number of correctly judged groups	47	35	29	32	31
	Precision rate (%)	94	70	58	64	62
Objects moving or missing	The number of correctly judged groups	44	36	35	39	34
	Precision rate (%)	88	72	70	78	68