Keqin Nan

ESA-VLAD: A Lightweight Network Based on Second-Order Attention and NetVLAD for Loop Closure Detection

Loop closure detection (LCD) is an important portion of Simultaneous Localization and Mapping (SLAM) because of its ability to reduce accumulated position errors. In this letter, we propose a novel loop closure detection algorithm named ESA-VLAD. The crucial part of ESA-VLAD is a redesigned network