{"id":"https://openalex.org/W4362610313","doi":"https://doi.org/10.1007/s44196-023-00223-8","title":"A Lightweight Neural Network for Loop Closure Detection in Indoor Visual SLAM","display_name":"A Lightweight Neural Network for Loop Closure Detection in Indoor Visual SLAM","publication_year":2023,"publication_date":"2023-04-05","ids":{"openalex":"https://openalex.org/W4362610313","doi":"https://doi.org/10.1007/s44196-023-00223-8"},"language":"en","primary_location":{"id":"doi:10.1007/s44196-023-00223-8","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s44196-023-00223-8","pdf_url":"https://link.springer.com/content/pdf/10.1007/s44196-023-00223-8.pdf","source":{"id":"https://openalex.org/S190680769","display_name":"International Journal of Computational Intelligence Systems","issn_l":"1875-6883","issn":["1875-6883","1875-6891"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319965","host_organization_name":"Springer Nature","host_organization_lineage":["https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Computational Intelligence Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://link.springer.com/content/pdf/10.1007/s44196-023-00223-8.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5067176264","display_name":"Deyang Zhou","orcid":"https://orcid.org/0000-0003-2640-9202"},"institutions":[{"id":"https://openalex.org/I50632499","display_name":"Chongqing University of Technology","ror":"https://ror.org/04vgbd477","country_code":"CN","type":"education","lineage":["https://openalex.org/I50632499"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Deyang Zhou","raw_affiliation_strings":["School of Artificial Intelligence, Chongqing University of Technology, Chongqing, 401135, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence, Chongqing University of Technology, Chongqing, 401135, China","institution_ids":["https://openalex.org/I50632499"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041531235","display_name":"Yazhe Luo","orcid":null},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yazhe Luo","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041822000","display_name":"Qinhan Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I50632499","display_name":"Chongqing University of Technology","ror":"https://ror.org/04vgbd477","country_code":"CN","type":"education","lineage":["https://openalex.org/I50632499"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qinhan Zhang","raw_affiliation_strings":["School of Artificial Intelligence, Chongqing University of Technology, Chongqing, 401135, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence, Chongqing University of Technology, Chongqing, 401135, China","institution_ids":["https://openalex.org/I50632499"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075489504","display_name":"Ying Xu","orcid":"https://orcid.org/0000-0002-2881-7093"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ying Xu","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045059773","display_name":"Diansheng Chen","orcid":"https://orcid.org/0000-0003-4599-876X"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Diansheng Chen","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053199843","display_name":"Xiaochuan Zhang","orcid":"https://orcid.org/0000-0001-5875-8592"},"institutions":[{"id":"https://openalex.org/I50632499","display_name":"Chongqing University of Technology","ror":"https://ror.org/04vgbd477","country_code":"CN","type":"education","lineage":["https://openalex.org/I50632499"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaochuan Zhang","raw_affiliation_strings":["School of Artificial Intelligence, Chongqing University of Technology, Chongqing, 401135, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence, Chongqing University of Technology, Chongqing, 401135, China","institution_ids":["https://openalex.org/I50632499"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5067176264"],"corresponding_institution_ids":["https://openalex.org/I50632499"],"apc_list":{"value":1390,"currency":"GBP","value_usd":1704},"apc_paid":{"value":1390,"currency":"GBP","value_usd":1704},"fwci":8.8593,"has_fulltext":true,"cited_by_count":12,"citation_normalized_percentile":{"value":0.96938285,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"16","issue":"1","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9962000250816345,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9955000281333923,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8589174747467041},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6807084679603577},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.6397457122802734},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.596187949180603},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.48821237683296204},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.47723817825317383},{"id":"https://openalex.org/keywords/similarity","display_name":"Similarity (geometry)","score":0.4726468622684479},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.4699532985687256},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3443140387535095},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.27424144744873047}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8589174747467041},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6807084679603577},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.6397457122802734},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.596187949180603},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.48821237683296204},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.47723817825317383},{"id":"https://openalex.org/C103278499","wikidata":"https://www.wikidata.org/wiki/Q254465","display_name":"Similarity (geometry)","level":3,"score":0.4726468622684479},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.4699532985687256},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3443140387535095},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.27424144744873047},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s44196-023-00223-8","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s44196-023-00223-8","pdf_url":"https://link.springer.com/content/pdf/10.1007/s44196-023-00223-8.pdf","source":{"id":"https://openalex.org/S190680769","display_name":"International Journal of Computational Intelligence Systems","issn_l":"1875-6883","issn":["1875-6883","1875-6891"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319965","host_organization_name":"Springer Nature","host_organization_lineage":["https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Computational Intelligence Systems","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:a0cea12e6d2a4cf980c9a56c53b3edc8","is_oa":true,"landing_page_url":"https://doaj.org/article/a0cea12e6d2a4cf980c9a56c53b3edc8","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"International Journal of Computational Intelligence Systems, Vol 16, Iss 1, Pp 1-11 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1007/s44196-023-00223-8","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s44196-023-00223-8","pdf_url":"https://link.springer.com/content/pdf/10.1007/s44196-023-00223-8.pdf","source":{"id":"https://openalex.org/S190680769","display_name":"International Journal of Computational Intelligence Systems","issn_l":"1875-6883","issn":["1875-6883","1875-6891"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319965","host_organization_name":"Springer Nature","host_organization_lineage":["https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Computational Intelligence Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7719261434","display_name":null,"funder_award_id":"2020AAA0108905","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4362610313.pdf"},"referenced_works_count":31,"referenced_works":["https://openalex.org/W121152203","https://openalex.org/W1612997784","https://openalex.org/W1660390307","https://openalex.org/W1991793962","https://openalex.org/W2119605622","https://openalex.org/W2127578024","https://openalex.org/W2131846894","https://openalex.org/W2146881125","https://openalex.org/W2151290401","https://openalex.org/W2152671441","https://openalex.org/W2164549458","https://openalex.org/W2207423472","https://openalex.org/W2535547924","https://openalex.org/W2558580397","https://openalex.org/W2576539274","https://openalex.org/W2766144513","https://openalex.org/W2963125010","https://openalex.org/W2963163009","https://openalex.org/W2999502853","https://openalex.org/W3004749315","https://openalex.org/W3034552520","https://openalex.org/W3043971245","https://openalex.org/W3102327032","https://openalex.org/W3126285971","https://openalex.org/W3135374165","https://openalex.org/W4200331084","https://openalex.org/W4210754841","https://openalex.org/W4221134788","https://openalex.org/W4245719430","https://openalex.org/W4256080149","https://openalex.org/W4303968631"],"related_works":["https://openalex.org/W4293226380","https://openalex.org/W4375867731","https://openalex.org/W2611989081","https://openalex.org/W4313906399","https://openalex.org/W4226493464","https://openalex.org/W4312417841","https://openalex.org/W3193565141","https://openalex.org/W3133861977","https://openalex.org/W3167935049","https://openalex.org/W3029198973"],"abstract_inverted_index":{"Abstract":[0],"Loop":[1],"closure":[2],"detection":[3,148],"(LCD)":[4],"plays":[5],"an":[6],"important":[7],"role":[8],"in":[9,42,234],"visual":[10],"simultaneous":[11],"location":[12],"and":[13,46,76,174,213,236],"mapping":[14],"(SLAM),":[15],"as":[16],"it":[17,196],"can":[18],"effectively":[19],"reduce":[20,103],"the":[21,25,69,104,154,172,175,183,187,193,202,207,217,237],"cumulative":[22],"errors":[23],"of":[24,32,98,106,157],"SLAM":[26],"system":[27],"after":[28],"a":[29,39,95,113,124],"long":[30],"period":[31],"movement.":[33],"Convolutional":[34],"neural":[35,71,108,116,220,244],"networks":[36],"(CNNs)":[37],"have":[38,48,80],"significant":[40],"advantage":[41],"image":[43],"similarity":[44],"comparison,":[45],"researchers":[47],"achieved":[49],"good":[50,85],"results":[51,177,239],"by":[52],"incorporating":[53],"CNNs":[54],"into":[55,134],"LCD.":[56],"The":[57],"LCD":[58,88,230],"based":[59,118,152,231],"on":[60,119,153,192,201,232],"CNN":[61],"is":[62,150,210,246],"more":[63,211],"robust":[64],"than":[65,216],"traditional":[66],"methods.":[67,185],"As":[68],"deep":[70,107],"network":[72,117,221,245],"frameworks":[73],"from":[74],"AlexNet":[75],"VGG":[77],"to":[78,93,126,132,170,228],"ResNet":[79],"become":[81],"smaller":[82],"while":[83,142],"maintaining":[84,143],"accuracy,":[86],"indoor":[87],"does":[89],"not":[90],"need":[91],"robots":[92],"finish":[94],"large":[96],"number":[97],"complex":[99],"processing":[100],"operations.":[101],"To":[102],"complexity":[105],"networks,":[109],"this":[110,180,242],"paper":[111],"presents":[112],"new":[114],"lightweight":[115,212,243],"MobileNet":[120,136],"V2.":[121],"We":[122,166],"propose":[123],"strategy":[125],"use":[127],"Efficient":[128],"Channel":[129],"Attention":[130],"(ECA)":[131],"insert":[133],"Compressed":[135],"V2":[137],"(ECMobileNet)":[138],"for":[139],"reducing":[140],"operands":[141],"precision.":[144],"A":[145],"corresponding":[146],"loop":[147],"method":[149,181],"designed":[151],"average":[155],"distribution":[156],"ECMobileNet":[158,233],"feature":[159],"vectors":[160],"combined":[161],"with":[162],"Euclidean":[163],"distance":[164],"matching.":[165],"used":[167,225],"TUM":[168,203,226],"datasets":[169,227],"evaluate":[171],"results,":[173],"experimental":[176,238],"show":[178,240],"that":[179,241],"outperforms":[182],"state-of-the-art":[184],"Although":[186],"model":[188],"was":[189],"trained":[190],"only":[191],"indoorCVPR":[194],"dataset,":[195],"also":[197],"demonstrated":[198],"superior":[199],"performance":[200],"datasets.":[204],"In":[205],"particular,":[206],"proposed":[208],"approach":[209],"highly":[214],"efficient":[215],"current":[218],"existing":[219],"approaches.":[222],"Finally,":[223],"we":[224],"test":[229],"PTAM,":[235],"feasible.":[247]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}