A BigBiGAN-Based Loop Closure Detection Algorithm for Indoor Visual SLAM

Algorithm 1

BoW component.

	Input: RGB images
Output: BoW
(1)	FOR i = 1 to imgCollection. Length() DO
(2)	img ⟵ imgCollection[i]
(3)	B ⟵ BigBiGAN(img)
(4)	BoWG. add (B. feature (Generative))
(5)	BoWD. add (B. feature (Discriminator))
(6)	END FOR