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

Table 1

Analysis of the detection results of three algorithms.

Algorithm	Number of detection loops	Number of correct loops	Number of real loops	Accuracy (%)	Recall rate (%)
ORB	6	2	5	33.3	40
LSD	3	1	5	33.3	20
This article	4	3	5	75	60