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

Table 2

Time-consuming analysis of three algorithms.

Algorithm	Feature point detection/neural network analysis (s)	Similarity calculation (s)	Verification (s)	Total time (s)
ORB	61.8	13.2	1.8	76.8
LSD	58.7	14.6	1.5	74.8
This article	52.3	12.1	1.6	66