Table 5 Accuracy rate of siamese networks of different siamese branches on NewCollege dataset.
From: A visual SLAM loop closure detection method based on lightweight siamese capsule network
| Â | Siamese branches | ||
|---|---|---|---|
VGG | Capsule | AlexNet | |
Average accuracy | 0.865 | 0.936 | 0.842 |
Average accuracy (view changes) | 0.813 | 0.905 | 0.785 |
Average accuracy (illumination variation) | 0.847 | 0.925 | 0.829 |
Average accuracy (V and I) | 0.762 | 0.892 | 0.724 |
Average accuracy (mask) | 0.633 | 0.681 | 0.542 |
