ROBOT  2019, Vol. 41 Issue (5): 649-659    DOI: 10.13973/j.cnki.robot.190005
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Loop Closure Detection Based on Local Semantic Topology for Visual SLAM System
ZHANG Kuojia1, ZHANG Yunzhou1,2, Lü Guanghao1, GONG Yiqun1
1. Faculty of Robot Science and Engineering, Northeastern University, Shenyang 110016, China;
2. College of Information Science and Engineering, Northeastern University, Shenyang 110819, China
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